In this paper, a fuzzy robust design for ship heading control using ACFB (adaptive command filtered backstepping) is proposed considering the input saturation constraints and external disturbances for e-Navigation. This novel adaptive controller is constructed for the underactuated surface ship with rudder dynamics control system based on the Lyapunov stability theory, and this control algorithm guarantees the stability of the closed-loop system. T-S fuzzy logic system is employed to

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... nonlinear uncertainty in the control system. The proposed algorithm is developed by combining command filter and minimal learning parameter (MLP) techniques to compensate the control error. The substantial problems of "explosion of complexity" and "dimension curse" existed in the conventional adaptive backstepping technique are circumvented. It is convenient to implement for the e-Navigation application. Moreover, in order to deal with the effect of input saturation constraints, an auxiliary system is developed. Finally, the MATLAB simulation results of a case study of Ship YULONG are given to demonstrate the effectiveness and robustness of the proposed scheme.