ABSTRACT
The ship is a typical pure lag, non-linear, and time-varying uncertain system, and therefore the conventional numerical PID control could no longer precisely conduct the ship course control. The sliding mode variable structure control theory[1] provides the non-linear and uncertain control of ship motion with an eective solution, but such a method possesses problem of serious control input vibration, which is against the engineering realization; the adaptive control[2] based on the adaptive control law makes a fundamental achievement in the non-linearity and uncertainty aspects, but its defect is the reliance on the mathematical model of the controlled object. Therefore, the exploration of the eective and practical project realization control algorithm is the main part of future research.
