Course keeping control of ships deals with the automation of their trajectories for which a better rudder action is required to control the ship heading to continuously remain at the desired reference despite of environmental disturbances like sea winds and sea waves. For this purpose, this paper proposes Robust Integral Backstepping, Synergetic, and Terminal Synergetic controllers for good course keeping performance and reducing the energy consumption in course keeping control for ships. Output response of system, energy consumption and smoothness performances have been computed to check the efficiency of these proposed controllers. Lyapunov stability theory has been used for the proposed nonlinear controllers to ensure the global asymptotic stability of the system. Proposed controllers have been simulated on MATLAB/Simulink, where a comparative analysis of the proposed nonlinear controllers has been presented with each other, with conventional PID controller and with recently proposed nonlinear controllers for the course keeping control of ships.

船舶的航向保持控制涉及其轨迹的自动化，为此，尽管受到诸如海风和海浪之类的环境干扰，但仍需要更好的方向舵动作来控制船舶航向以持续保持在所需的参考位置。为此，本文提出了鲁棒积分反推，协同和终端协同控制器，以实现良好的航向性能并降低船舶航向控制中的能耗。已经计算出系统的输出响应，能耗和平滑性能，以检查这些建议控制器的效率。Lyapunov稳定性理论已用于所提出的非线性控制器，以确保系统的全局渐近稳定性。建议的控制器已在MATLAB / Simulink上进行了仿真，