Abstract
The conventional way-point guidance system has two main operation modes: the course-keeping mode at straight trajectory segments and the course changing mode in the way-points. This paper presents the design of a course and a turning controllers which have high steering performance and are robust due to ship dynamics' variations. The bases for the design are simple, linear ship dynamics models of the 1st and 2nd order (Nomoto models). The controllers have fixed structure and theirs coefficients are selected using the performance indices: the settling time and integral performance index ITAE (the integral of time multiplied by absolute error).
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