这是利用S函数编写的backstepping方法对一个船舶模型进行控制仿真，这对船舶姿态运动方向的同学具有很好的参考价值。-This is a backstepping prepared using the S function to simulate a model ship, the ship attitude motion direction of the students has a very good reference value.

在matlab中对船舶的运动控制进行仿真，采用的算法是PID控制算法(The motion control of the ship is simulated in MATLAB, and the algorithm used is the PID control algorithm)

用matlab对船舶的运动进行主动控制和仿真(Simulation of ship motion control)

船舶运动Z型试验仿真程序，用于验证船舶运动性能，并可用于船舶运动控制。(The Ship motion ZigZag simulation program for ship motion test is used to verify the ship motion performance and can be used for ship control simulation.)