Abstract
High performance path following control, especially straight line path tracking, is one of the most difficult problems in autonomous control of under-actuated ship. In this paper, we propose a straight line path following control algorithm by combining adaptive yaw angle feedback, back-stepping and acceleration feedback technique together. The most absorbing advantage of the proposed controller is that it not only reserves the good performance of back-stepping controller and bring much faster convergent rate, but also eliminates the disturbance impacts, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.
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