This report studies two types of autopilot, the proportional-integral-derivative (PID) type and adaptive type. The equations of motion relating ship heading to applied rudder angle and the methods of solution are described, and an example of solution using the PID type autopilot algorithm is outlined in the report. The study found the PID type autopilot is relatively easy to implement for model test and manoeuvring simulation, whereas the adaptive type autopilot is more difficult to apply for these applications because of its complexity.
National Research Council of Canada. Institute for Marine Dynamics
St. John's, Newfoundland
Laboratory Memorandum (National Research Council of Canada. Institute for Marine Dynamics. Hydraulics Laboratory), no. LM-HYD-80.