Anti-windup synthesis of heading and speed regulators for ship control with actuator saturation

Heading and speed control for a patrol vessel is addressed by using simple PID regulators provided with an anti-windup setup. We rely on a decoupled linearized model of the original motion equations to design the proposed regulators. Specifically, the selection of the PID and anti-windup parameters is accomplished by using LMIs. The effectiveness of the resulting controllers is validated by means of simulations on the original, nonlinear dynamic equations and in the presence of external disturbances such as wind, waves, and current.