This paper presents a robust adaptive nonlinear feedback algorithm based on error-driven function for ships course-keeping which are subjected to the unknown time-varying disturbances, uncertain ship model parameters and control saturation. Nonlinear feedback and adaptive techniques are used to design the control law. The error-driven function is designed to avoid the input saturation and adjust the control gain. The designed adaptive law not only achieves the self-regulation of course-keeping control system but also adjusts parameters adaptively. In addition, the Lyapunov direct method is utilized to analyze the stability of course-keeping system. Theoretical analysis indicates that the designed control law can achieve the ship course-keeping while ensuring that all signals are bound. Finally, the effectiveness of the developed control strategy is demonstrated by simulations and comparative results.

中文翻译：

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基于误差驱动的船舶航向保持自适应非线性反馈控制

本文提出了一种基于误差驱动函数的鲁棒自适应非线性反馈算法，用于在未知时变扰动、不确定船模参数和控制饱和下的船舶航向保持。非线性反馈和自适应技术用于设计控制律。误差驱动功能旨在避免输入饱和并调整控制增益。所设计的自适应律不仅实现了航向控制系统的自我调节，而且实现了参数的自适应调整。此外，利用Lyapunov直接法分析了航向保持系统的稳定性。理论分析表明，所设计的控制律可以在保证所有信号绑定的情况下实现船舶的航向保持。最后，