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Ship roll motion control is necessary due to the fact that ship roll motion degrades ship safety performance. In order to reduce roll motion and correct heading during sailing, fin/rudder joint control system is designed which is based on the rudder roll reduction and fin stabilizer. The fin/rudder joint roll reduction controller is designed by H∞ mixed sensitivity function. The PID autopilot is designed to correct heading and the Kalman filter is used to restrain disturbance during sailing. The simulation results show that both roll reduction and course-keeping control achieve good control effect.

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