An Effective and Simple Adaptive Algorithm for Ship Course Control Systems

A novel ship path following method in inland waterways based on adaptive feedforward PID control

“…A novel ship path following method in inland waterways based on PID control Siwei Xin et al https://so04.tci-thaijo.org/index.php/MTR where T r is the time constant of the steering gear, K r is the control gain of the steering gear, r δ is the command rudder angle, δ is the actual output rudder angle, and ̇ is steering speed. Making conclusions from the present researches of , , Witkowska and Smierzchalski (2009), and Dyda et al (2019), the model can be simplified, as per Figure 1. Figure 1 Steering gear servo system.…”

“… Dyda et al (2019). simplified the third-order ship model to second-order and obtained the Nomoto model, denoted as transfer function ( ) path following method in inland waterways based on PID control Siwei Xin et al https://so04.tci-thaijo.org/index.php/(actual rudder angle), and ( ) r s is the output (yaw rate).…”