Nonlinear controller synthesis for ship course with actuator using sum-of-squares optimization

For the stabilization of ship course with the actuator dynamics, this paper presents a nonlinear robust controller design method using the sum of squares (SOS) technique combined with the dual to Lyapunov´s stability theorem. Uncertain parameters originate from varying load condition and ship speed in the ship course model. Dynamic feedback is involved in the presence of the actuator dynamics, and then the robust nonlinear controller is designed based on the suggested method. A cargo ship maneuvering scenario is simulated to illustrate the effectiveness of our approach.