Ship course keeping using eigenvalue decomposition adaptive sliding mode control

A surface ship sailing in the seaway usually encounters large yaw motions due to waves, which may lead to heading changed. According to the principle of course keeping and sliding mode control, an eigenvalue decomposition adaptive sliding mode controller (SMC) is presented base on the horizontal coupling yaw motion model. The simulation results indicate that the introduced adaptation law can eliminate the steady-state error and the capability of ship course keeping is improved.