This paper proposes a nonlinear robust track keeping control algorithm for energy efficiency from the perspective of ship motion control, based on the great significance of the twenty-first Century Maritime Silk Road. Replacing the course error with the driven by the sine function in course keeping loop to serve as the input of the controller, the simulation results tested on the ship autopilot simulation platform show that the controller output (maximum rudder angle) decreases, and the control effect of track keeping is better than the previous one in aspects of energy efficiency and rudder shake inhibition. Otherwise, the proposed nonlinear track keeping control algorithm still works in relatively severe sea states. Substituting the nonlinear feedback for the linear feedback has the generality of control effect improving.

中文翻译：

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一种用于海上丝绸之路的节能非线性鲁棒航迹控制算法

基于21世纪海上丝绸之路的重大意义，本文从船舶运动控制的角度提出了一种非线性鲁棒航迹保持控制算法以提高能效。将航向保持环中正弦函数驱动的航向误差作为控制器的输入，在船舶自动舵仿真平台上测试的仿真结果表明，控制器输出（最大舵角）减小，控制效果良好航迹在能效和方向舵抖动抑制方面优于前一种。否则，所提出的非线性航迹保持控制算法在相对恶劣的海况下仍然有效。用非线性反馈代替线性反馈具有提高控制效果的普遍性。