针对减摇航迹保持控制中存在的多目标优化问题，应用NSGA—II提出舵减摇与航迹保持控制的鲁棒协同优化方法。首先，在对非线性船舶运动......

A linear quadratic optimal direct track-keeping control law was proposed based on first-order Nomoto nominal model. Furt......

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keep......