A Nonlinear Power Feedback Improvement of the Ship Course-Keeping Controller

Table 1

Parameters of ship Yupeng.

Parameters	Ballast condition	Full-load condition
Length between perpendiculars	189	189
Breadth (molded)	27.8	27.8
Designed draught	6.3	11.0
Block coefficient	0.661	0.72
Longitudinal center of gravity	−4.04	−1.8
Volume of displacement	22036.7	29268.3
Trial speed	17.3	17.3
Rudder area	31.67	38
Turning ability index	0.21	0.08
Following index	107.78	39.54
Maximum rudder angle	35	35
Average rudder angle
	13.14	18.80
	16212.5	21459.9