Input-state linearization based ship's tracking-keeping direct controller designs

There are two kinds of control schemes for ship's track-keeping control: indirect control and direct control. Direct control scheme has higher control precise but attach few research interests. Based on input-state feedback linearization method, this paper designs a direct controller for ship's track-keeping control. Since the mathematic model of the ship's track-keeping control system has the form of "triangular system", it is easy to get the sufficient and necessary condition for feedback linearization and avoid the complex testifying of involutivity conditions. The controller can force a ship to exponentially asymptotically stabilize to a set track - rhumb line. Simulation results on a far-going experimental ship named 'YULONG' are presented to validate the proposed controller.