In this paper, an active disturbance rejection control (ADRC) parameter tuning method optimized by grey wolf optimization (GWO) is proposed for the course control and path following of the ship. First, a ship course controller based on ADRC and the first-order Nomoto model is established. Second, GWO is used to optimize the parameters of ADRC. Finally, a novel integral line-of-sight guidance law is used to navigate the ship to accomplish the purpose of path following. The simulation results indicate that the proposed controller can track the desired heading angle with a small overshoot, high precision, fast response, and smooth rudder angle input. The proposed guidance law can make the ship follow the target path accurately when there are wave disturbances.

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