In this paper, the ship manoeuvring problems particular to maritime search and rescue are investigated. A solution to such problems is necessary for successful ship handling to save human life. A fuzzy gain scheduling Proportional Derivative (PD) controller, using a back-propagation algorithm, is developed to solve these maritime search and rescue problems. The parameters of the proposed PD controller are determined on-line by fuzzy rules and adjustable fuzzy reasons. The proposed controller is self-adaptive and can accommodate the effects caused by wave or wind disturbance. Some computer simulations are provided to illustrate the use of the main ideas.