In order to reduce the worn-out of the rudder mechanism, a weighted term on the rate of control signal is added into the loss function and a new algori-thm of self-tuning control for the course-keeping mode has been proposed.

• 为减小舵机机构的磨损；又引入控制信号变化率的约束项；导出了一种船舶航向保持自校正控制的新算法；最后对控制算法进行了数学仿真研究.