Tracking-Control-of-UnderActuated-Ship-Model

This project is based on dealing with the tracking control problem for an under actuated ship which has two control inputs namely surge force and yaw moment and three control outputs namely surge, sway and yaw velocity. The ship dynamics are modelled utilizing Fossens (1994) model and this model is discussed and assumptions are made about the values and certain physical properties in the model.The model is then implemented in Simulink and tested to determine the system behavior without a control system.After that,a Proportional Integral Derivative(PID) controller is designed. Later this PID controller is modified to use adaptive control to better compensate for changes in the physical properties of the ship. Finally results are summarized and potential for further improvement are discussed.