Based on the closed-loop gain shaping algorithm, a novel disturbance attenuation method is developed to design rudder roll stabilization controller for a multifunctional naval vessel. Because the ship model from roll angle to rudder angle is an unstable non-minimum phase system, a mirror-injection method is applied in the controller design process. Finally, a multi-objective autopilot system with rudder roll stabilization controller and course-keeping controller is constructed, and simulation tests are carried out in random wave disturbances with different encounter periods. Numerical results along with comparison to a sliding control method indicate that the controllers can achieve good disturbance rejection near the ship natural roll frequency, and stable tracking performance during course-keeping and course-changing maneuvers. It is noteworthy that the rudder roll stabilization controller designed by proposed method is simple, decoupling, robust, and directly adaptive, utilizing only two design parameters with obvious physical significance.
Adaptive Rudder Roll Stabilization Controller Design Based on Closed-Loop Gain Shaping Algorithm
Lect. Notes Electrical Eng.
International Conference on Frontier Computing ; 2020 ; Singapore, Singapore July 10, 2020 - July 13, 2020
2022-01-01
11 pages
Article/Chapter (Book)
Electronic Resource
English
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