Adaptive feedback linearization applied to steering of ships

The application of feedback linearization to automatic steering of ships is described. The flexibility of the design procedure allows the autopilot to be optimized for both course-keeping and course-changing maneuvers. Direct adaptive versions of both the course-keeping and turning controller are derived. The advantages of the adaptive controllers are improved performance and reduced fuel consumption. The application of nonlinear control theory also allows the designer to compensate for nonlinearities in the control design in a systematic manner.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>