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Roll reduction and course keeping for the ship moving in waves with factorized NGMV control

Liu, Zhiquan and Jin, Hongzhang and Grimble, M. J. and Katebi, Reza (2015) Roll reduction and course keeping for the ship moving in waves with factorized NGMV control. In: Proceedings of the 53rd IEEE Conference on Decision and Control. IEEE, pp. 5692-5697. ISBN 978-1-4799-7746-8

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A factorized Nonlinear Generalized Minimum Variance (NGMV) control law is developed for a combined roll and yaw motion compensation using rudders and fins. The nonlinear model used for control design includes the non-minimum phase interaction from rudder to roll motion, and the dynamics from fins to yaw motion. This controller is developed using the polynomial approach to ensure that the non-minimum phase system remains stable in closed-loop. The effectiveness of the approach is demonstrated on a simulated nonlinear ship model.