Review of Path-following Control Systems for Maritime Autonomous Surface Ships

Abstract A review presents the state-of-the-art path-following control systems for maritime autonomous surface ships, where special focus is placed on guidance subsystem and subsystem. The path following system one of basic requirements ships since it guarantees that ship can track predefined with small cross-track errors. problem firstly defined, error dynamics are derived from kinematic equations marine ships. classical laws introduced, governing also presented in this paper. controllers has been carried out based relevant journal conference papers. Several important properties characteristics, such as structure, law, method, stability, environmental disturbance vessel dynamics, defined comparative analysis. Finally, summary a discussion most used technologies highlighted.