This paper proposes a novel path-following control algorithm for surface vessels based on global course constraint (GCC) for the first time. The path-following control algorithm takes the global course constraint as the goal. Dividing the preset path into two parts, straight and waypoint segment, in which the guidance laws are designed respectively. The guidance laws depend on cross-track error in the straight segment and planned path in the waypoint segment, then the reference courses are obtained. The controller is designed using the closed-loop gain shaping algorithm (CGSA) and the nonlinear feedback technology. The proposed algorithm ensures that the ship can follow the preset path with smoother course change, smaller rudder and roll angle, which is more in line with the marine practice. In addition, this paper uses the teaching practice ship "Yukun" of Dalian Maritime University as a simulation. Through comparative experiments and analysis, the effectiveness and superiority of the proposed path-following algorithm are further verified.

本文首次提出了一种基于全局航向约束（GCC）的水面舰船路径跟踪控制算法。路径跟随控制算法以全局路线约束为目标。将预设路径分为直线段和航点段两部分，分别在其中设计制导律。引导规律取决于直线段中的跨轨误差和航路点段中的规划路径，然后获得参考航向。该控制器采用闭环增益整形算法（CGSA）和非线性反馈技术进行设计。所提出的算法确保了船舶能够沿着预设的路径行驶，并具有更顺畅的航向变化，较小的舵角和侧倾角，这更符合海洋实践。此外，本文以大连海事大学的“ Yukun”教学实习船为仿真对象。通过对比实验和分析，进一步验证了该算法的有效性和优越性。