Adaptive Nomoto model used in the path following problem of ships

An adaptive Nomoto model is introduced in this paper to deal with the path following problem of ships. The whole system is decoupled into a guidance subsystem and a control subsystem. The guidance subsystem takes the path geometric information as the input, and produces a desired yaw rate to be fed into the control subsystem. A revised Serret–Frenet frame is used in guidance subsystem to describe the ship motion. An adaptive Nomoto model is adopted to describe the yaw motion. L 1 adaptive control strategy which has very fast adaption speed is introduced to the system and is used to identify the system uncertainty. Simulation results show the effectiveness of this strategy.