Abstract: The track control strategies include direct approach and indirect approach. In this paper, the indirect multi-mode control method for ship track-keeping autopilot is discussed. The track autopilot works properly, its performance is satisfactory. The controller can capture current way point automatically, and keep the trajectory precisely on the planned route. When the ship approaches a way point, it can turn to the new course swiftly and smoothly.

Key words: autopilot, track control, fuzzy control, multi-mode control, ship maneuvering