A new nonlinear adaptive control algorithm was proposed for course-keeping control of ship in the presence of uncertainties. This algorithm incorporated the command filter technique into Backstepping design, so the problem of “explosion of complexity” was avoided in the traditional Backstepping design procedure. In addition, the norms of neural network weights were used as the estimated parameters, and the computational burden of the algorithm can be reduced drastically and the algorithm is convenient to implement in applications. Result shows that the designed adaptive controller guarantees uniform boundedness of all signals in the coursekeeping control of ship and the heading error converges to zero. Simulation illustrates the effectiveness of the proposed algorithm.
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