Bifurcation Control for a Ship Maneuvering Model with Nonsmooth Nonlinearities

We consider a widely used form of models for ship maneuvering, whose nonlinearities entail continuous but nonsmooth second-order modulus terms. For such bifurcations straight motion are not amenable to standard center manifold reduction and normal forms. Based on recently developed analytical approach, we nevertheless determine the character local when stabilizing course with proportional control. specific model class perform detailed analysis linearization location these in control parameter space its dependence selected design parameters. By computing analytically derived characteristic parameters, find that “safe” supercritical Andronov–Hopf typical. Through numerical continuation provide more global bifurcation analysis, which identifies arrangement relative stable unstable equilibria periodic orbits.