An optimal autopilot for ships using a regressive exogenous model

A linear quadratic Gaussian (LQG) control algorithm linked to the recursive least squares (RLS) algorithm has been applied to a multivariate autoregressive exogenous (MARX) model of ships to construct a ship autopilot. It has been found from computer simulation and full-scale experiments aboard a training ship that the autopilot is robust and has good features in both course keeping and course changing maneuvers.