Design of Steering Pilot Featuring Integral Sliding Mode Control with Nonlinear Feedback

A pilot is made more robust and energy efficient by combination of integral sliding mode control and nonlinear feedback.Lyapunov stability of the integral sliding surface is proved.Simulations are carried out, which shows that the design reduces the rudder force for same course accuracy.However, the integral sliding mode control with nonlinear feedback does effect transvers drift and turning of the ship.The impact of nonlinear feedback to ship motion is analyzed.