Abstract: In order to solve the overshoot of the target ship′s course under the PD controller and noise disturbance to sensors used in the sea, a PD controller for the target ship′s course based on the tracking differentiator was proposed. The kinematics model of the target ship was established. The disturbance torque model of wind and Ocean current were buitt. The principle of tracking differentiator was elaborated, and the PD controller based on tracking differentiator was designed. Adding Gauss white noise to the measurement of course signal, simulations were carried out for PD controller and TD controller respectively.

Key words: Target ship, Tracking differentiator, PD, Simulation