Adaptive Backstepping Autopilot for Way- point Tracking Control of a Container Ship in the presence of Time-varying Disturbances
Abstract Effective Control of ships in a designed trajectory, is always an important task for ship maneuvering. This article considers way-point tracking control of a container ship based on LOS method using adaptive backstepping. The uncertainty of model parameters in the presence of disturbances such as waves, winds and currents, dictate the application of techniques that take into account the nonlinear equations of ship's motion and the presence of unknown parameters. In this sense, the adaptive backstepping procedure with tuning functions design is used for solving this problem. The simulation results show the suitability of this technique to compensate the time-varying disturbances effects in way-point tracking control.