Abstract
In the paper the problem of ship trajectory tracking with ξ-accuracy is considered. A three-degrees-of-freedom ship model with full dynamic interaction between motions in roll, sway and yaw is assumed. The aim of the paper is to determine the robust control for ship trajectory tracking with ξ-accuracy. Such control is obtained by means of a state feedback (called Tytus feedback) system characterised by an arbitrarily large gain. For this purpose a non-linear as well as linearised stable and unstable ship model is used. The simulation results confirm that a high precision performance can be achieved by the proposed control scheme.
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