Influence of acceleration on safe basins in a single-degree yaw equation model

A single-degree nonlinear yaw equation model of a ship with auto-pilot force and wave exciting force is considered. The acceleration feedback is applied to control erosion of safe basins in the system. The mechanism of the evolution of the dynamics is studied analytically. And the evolutions of boundary and area of safe basins with time delay are presented numerically. It is found that the acceleration feedback can be used as a good strategy to control the erosion of safe basins of the rolling motion system.