Robust trajectory tracking of ship motion

The article presents the issues of robust control and ship motion control along a given trajectory using a robust controller. The article contains the results of simulation studies on the selection of a robust controller using evolutionary algorithms and trajectory tracking for a 23,000-ton container ship.INTRODUCTION
A ship as a control object is a very difficult object due to its nonlinearity and strong changes in the coefficients of the linear model depending on speed, rudder angle, and the interactions between the rudder and the propeller, and the rudder and the hull (Szelangiewicz). There are autopilot solutions based on a PID controller with variable coefficients depending on the state of the vessel. However, according to robust control theory, it is possible to find a controller that is capable of stably controlling the ship without the need to change its settings.
The difficulty lies in the need to use advanced mathematical analysis methods to search for the coefficients of the robust controller equation. To avoid this need, evolutionary algorithms can be used to search for the coefficients
[2,3,4]. The article presents the results of simulation studies on trajectory tracking using a robust controller.
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