Unmanned ship broken line track tracking control method, controller and unmanned ship

The invention provides an unmanned ship broken line track tracking control method, a controller and an unmanned ship, which can effectively reduce the operation calculation amount, reduce the overshoot of switching transition and improve the accuracy and reliability of track tracking control. The broken line track tracking control method comprises the following steps: designing an expected brokenline track of the unmanned ship according to a preset route point expected to pass through, and calculating a directed distance from the unmanned ship to any broken line segment track; designing a heading angle guide law of an unmanned ship broken line track tracking control process based on the directed distance, so as to enable the unmanned ship to accelerate to approach a target track; designing a steady rotation circle smooth transition strategy of a broken line track transition section, and enabling the unmanned aerial vehicle to enter a steady circle rotation state before the unmanned aerial vehicle is about to