Abstract
In this paper, a rudder control law for unstable ships has been developed and ship handling characteristics toward position control of unstable ships have been discussed. Like practical ship handling, the control law has two elements. One of them controls a rudder angle to correct turning speed, lateral deviation and heading deviation from a planned course. The other decides timing of an altering course. Each of the control constants which are contained in the control law has been estimated from ship handling experiments by licensed mariners. The control law has enabled us to estimate results of ship handling in narrow waterways by humans and it has furthermore led to the result that when ship's length is three hundred meters or more, a rudder angle to check turning speed increases sharply with increasing spiral loop width.
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