1) Implemented a non-linear model of a ship
2) Initial simulations are successful
3) Designed a PID controller. The reference signal is the desired yaw angle. PID has been tuned using Matlab/Simulink. The plant is able to track the desired yaw angle which is a pulse signal ranging between pi/3 and pi/6.
4) The next step is to design an adaptive Fuzzy controller for the ship.
5) Way point calculation has been solved and will be implemented after the successful testing with the fuzzy controller.