A Model-Based Decoupling Method for Surge Speed and Heading Control in Vessel Path Following

Table 1

The parameters of the vessel.

m	23.8
Iz	17.6
xg	0.046
Xudot	−2.0
Xu	−0.72253
Xabsuu	−1.32742
Xuuu	−5.86643;
Yvdot	−10.0
Yrdot	−0.0
Yv	−0.88965
Yabsvv	−36.47287
Yabsrv	−0.805
Yr	−7.250
Yabsvr	−0.845
Yabsrr	−3.450
Nvdot	0
Nrdot	−1.0
Nv	0.03130
Nabsvv	3.95645
Nabsrv	0.130
Nr	−1.900
Nabsvr	0.080
Nabsrr	−0.750
lxR1	−0.549
lxR2	−0.549