Automatic Course Stabilisation of an Autonomous High-Speed Boat Under Wind–Wave Disturbance Conditions

This study is devoted to the development of a course-stabilisation controller for a small unmanned high-speed vessel. The main objective is to ensure stable course-keeping of the boat while accounting for its dynamic behaviour under realistic wind–wave disturbance. To determine and tune the parameters of the controller, a computer simulation method was employed. The dynamics of the vessel were modelled according to a predefined motion scenario under the influence of wind and waves, and the performance of the developed controller was evaluated by comparing its course-keeping accuracy with that of a classical proportional–integral–derivative controller. The evaluation criteria included the mathematical expectation of the course angle, the course variance, and the number of rudder deflections required to maintain the vessel on course. The main optimisation criteria for tuning of the controller were the course-keeping accuracy and minimisation of the rudder activity, which increases the energy efficiency of the propulsion system. The proposed controller was implemented using fuzzy logic, together with an additional control block that enables parameter adjustment when increased control precision is required.