Concise robust fin roll stabilizer design based on integrator backstepping and CGSA

Abstract

This paper proposed a concise nonlinear fin roll control derived from integrator backstepping with nonlinear damping term. The resulting backstepping-based controller consists two parts, first part is a PID controller which agrees very well with the concise robust close-loop gain shaping algorithm (CGSA). While the second part is a nonlinear compensation which can be simplified by leaving the high order nonlinear terms out of consideration in no high-accuracy conditions. Therefore, the controller proposed has a concise structure, definite design procedure and strong robustness, facilitates the actual application.

Lmi - Based H2 and H State - Feedback Controller Design for Fin Stabilizer of Nonlinear Roll Motion of a Fishing Boat

“…The nonlinear roll damping coefficients for ship types are calculated by theoretical and semi-empirical methods considering lift effect, bilge keel, skin friction and free surface effect, [11]. A non-dimensional damping coefficient is shown as follows.…”

“…Guan and Zhang [11], who proposed backstepping-based controller for ship roll motion, controlled the nonlinear fin roll stabilizer by ignoring the high order nonlinear terms. Ghassemi et al [12] expressed active fin stabilizers are effective devices to reduce the roll motion of a ship againist wave movements.…”

Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat

“…1 [6], are directly related to a linear damping coefficients B 1 and a non-linear damping coefficient, B 2 represents quadratic drag and B 3 is cubic [2]. The curve for righting arm has been represented by the polynomial.…”

“…Surendran et al [19] used active fins to minimize roll motion of a ship by means of the PID controller. Guan and Zhang [6] offered nonlinear fin roll control originated from integrator backstepping associated with nonlinear damping term. They simplified the standard nonlinear backstepping algorithm in use of the Close-loop Gain Shaping Algorithm (CGSA).…”

Tank-Level Control of Liquefied Natural Gas Carrier Based on Gaussian Function Nonlinear Decoration

“…The new closed-loop gain-shaping control algorithm was applied to tank-level control and a good control effect was obtained [2]. Then, this new algorithm was applied to various aspects of ship motion control, such as ship course keeping control and ship rolling reduction control [3,4].…”