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The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.<\/jats:p>","DOI":"10.2478\/v10006-010-0020-8","type":"journal-article","created":{"date-parts":[[2010,7,3]],"date-time":"2010-07-03T06:34:38Z","timestamp":1278138878000},"page":"271-280","source":"Crossref","is-referenced-by-count":35,"title":["Nonlinear controller design of a ship autopilot"],"prefix":"10.61822","volume":"20","author":[{"given":"Miros\u0142aw","family":"Tomera","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"37438","reference":[{"issue":"7-9","key":"1","doi-asserted-by":"crossref","first-page":"1934","DOI":"10.1016\/j.neucom.2008.06.008","article-title":"Simulation and tracking control based on neural-network strategy and sliding-mode control for underwater remotely operated vehicle","volume":"72","author":"A. 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(2003). <i>Acceleration Feedback in Dynamic Positioning<\/i>, Ph.D. thesis, Norwegian University of Science and Technology, Trondheim."},{"issue":"4","key":"21","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1016\/S0967-0661(99)00159-8","article-title":"Ship steering control system optimisation using genetic algorithms","volume":"8","author":"E. McGookin","year":"2000","journal-title":"Control Engineering Practice"},{"issue":"1","key":"22","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1016\/j.eswa.2009.06.015","article-title":"An adaptive neuro-fuzzy sliding mode based genetic algorithm control system for under water remotely operated vehicle","volume":"37","author":"J. Moghaddam","year":"2010","journal-title":"Expert Systems with Applications"},{"issue":"35","key":"23","doi-asserted-by":"crossref","first-page":"354","DOI":"10.3233\/ISP-1957-43504","article-title":"On the steering qualities of ships","volume":"4","author":"K. 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