Design an Adaptive Autopilot for an Unmanned Surface Vessel

Abstract

Nowadays, the more and more demand of the human on marine transportation increases rapidly because of the development of global economy. So, it makes a matter of developing ship autopilot to help the captain steering the ship. Therefore, the ship autopilot is subjected to security by many engineers in the world. This paper focuses on designing, modelling and simulating an Adaptive autopilot using Backstepping approach for the Marine Class Vessel. This study will also employ the Nomoto first-order model of the Marine Class Vessel to simulate and examine the Path-following capability of the ship with a path defined by waypoints. Finally, this paper will illustrate the simulation result about cross-tracking error and heading error of the ship. The Adaptive autopilot will be simulated in MATLAB Simulink Tool.