ABSTRACT
The developments of computational technology, satellite communication, and electronic devices (i.e. sensors and actuators) have facilitated the introduction of autopilot features into modern ship navigation systems. However, most of the autopilot systems in ship navigation are mainly formulated to follow a desired course under constant speed conditions. Therefore, to facilitate present ship navigation requirements various linear and nonlinear controllers have been proposed in recent literature. However, most of the linear controllers are based on the assumptions of linear state and parameter conditions that may not always be realistic under various maneuvering conditions.
