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, USA, pp. 5692-5697. ISBN 978-1-4799-7746-8

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    Abstract

    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.