Design of a Self-tuning Adaptive Track-keeping Control System for Ships

This paper gives the self-tuning control algorithm for adaptive track-keeping control system. This algorithm aims to establish an appropriate mathematical model for actual control process and its disturbance and to choose the appropriate performance criterion of the system. The discrete dynamic mathematical model suitable for adaptive track-keeping control is derived and the parameters of it are on-line identified. The derived generalized minimum variance control law causes the minimum variance of the cross track error.