Course-keeping control for surface ships based on double feedback

This paper proposes a double feedback course-keeping control method based on the measured deviation caused by disturbances. This method aims to address the influence of complex sea state disturbances, including wind, waves, and current, on the drift of ships during navigation. First, the ship position data obtained from GPS and other sensors is processed using the least squares method to calculate the course over ground. This value is then com-pared with the ship heading measured by the compass to determine the deviation caused by disturbances such as wind, waves, and current. Then, based on the feedback signal of the controller, a correction signal from the deviation caused by disturbances is added to realise the correction of the course over ground. Finally, the effectiveness of the proposed control algorithm is verified through simulation. The simulation results demonstrate that the interference compensation method exhibits excellent control performance in course-keeping control under complex sea conditions, significantly reduces the impact of environmental disturbances on ship drift, and efficiently reduces track deviation. This method effectively addresses the challenge of accurately measuring environmental disturbances, offering a reliable solution for ship course-keeping control, and improving the safety and efficiency of maritime navigation.