Because of the strong non-linearity and uncertainty, and as well as the dynamics restraints of autopilots, designing a high performance ship course controller is yet a challenge.

• 摘要船舶航向控制系统具有典型的非线性和不确定性特性，并受自动舵执行能力的约束，这使得作为船舶智能化基础的航向控制极具挑战性。