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In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustmentdoi:10.1109/access.2021.3055637 fatcat:qu6krusrhbdjxcl5dxu7mogmj4