Abstract: Objectives In order to solve the problem of excessive energy consumption caused by excessive amplitude of rudder angle and high frequency of rudder angle change in the course of ship course keeping. Methods In this paper, the closed-loop gain shaping algorithm (CGSA) is used to design the controller, double nonlinear feedback algorithm is introduced, the steering amplitude and frequency are reduced by the combination of bipolar S-function and arc-tangent function, and the whole control system is controlled by positive feedback method. Results The simulation results show that the proposed double nonlinear feedback algorithm improves the comprehensive performance evaluation index of steering gear energy consumption by 31.12% and 14.98% respectively under Beaufort No.6 and Beaufort No.8.Conclusions It is verified that the double nonlinear feedback has a positive effect on saving the power consumption of the steering gear and reducing the carbon emission in the course of ship navigation, and the equivalent control effect of positive feedback and negative feedback. It provides a meaningful reference value for the study of ship course keeping control.