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Discrete-time control and simulation of ship course tracking using ZD method and ZFD formula 4NgSFD

This paper focuses on solving the ship course tracking problem by using Zhang dynamics (ZD) method and a new Zhang finite difference (ZFD) formula. Via ZD method, which is a powerful class of dynamics to solve online time-varying problems, the so called ZD controller of ship course tracking is designed. Then, a 1-node-ahead differentiation formula within ZFD framework termed as 4-node g-square finite difference (4NgSFD) is presented and applied to discretizing the ship course system. By comparing with Euler forward difference (EFD) formula, numerical experiments further substantiate the efficacy of the designed ZD controller for ship course tracking and the superiority of ZFD formula 4NgSFD in discretizing the system.