Search for: [Abstract = "As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady\-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of nonlinear controllers, which are then applied to ship course control."]

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