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To solve the problems of difficult course keeping, high energy output, and large wear of very large ships under different sea conditions, a robust controller combining the closed-loop gain shaping algorithm and nonlinear decoration is proposed in this paper. Firstly, a linear controller is designed by using the third-order closed-loop gain shaping algorithm and takes the hyperbolic tangent function as the nonlinear decoration of the controller output, and the robustness of the system is proved by H∞ robust control theory. Secondly, taking ‘Vale Brasil’, an ore carrier with a displacement of 400,000 tons, as the test plant. The nonlinear Nomoto model and nonlinear Norrbin model were established, which were compared with the control effect from the existing controller. Thirdly, simulation experiments were carried out under normal sea state and heavy sea state to prove the effectiveness. The results indicate that the proposed control strategy can achieve the required course faster, and enhances the smoothness of rudder angle actuation compared with the existing controller. It can maintain good control ability under different sea conditions. The proposed controller has the advantages of simple parameter adjustment, better robustness, less energy consumption, and reduced rudder angle. It is more in line with engineering practice and increases ship operation benefits.

Course keeping control for very large ship using hyperbolic tangent function based on nonlinear decoration technique