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

Table 3

Temperature and wildlife count in the three areas covered by the study.

Steady course	Control type	Adjustment time	Maximum rudder angle	Average rudder angle	Energy-saving ratio
20	Backstepping	250	31	6.85	26.4
	Nonlinear feedback	200	17	5.04
40	Backstepping control	300	35	7.94	25.1
	Nonlinear feedback	250	32	5.95
60	Backstepping	300	35	9.41	20.2
	Nonlinear feedback	250	35	7.51
80	Backstepping	280	35	11.66	15.1
	Nonlinear feedback	230	35	9.90