ABSTRACT
377Rudder Roll Stabilization (RRS) of ships is a difficult problem because of its non-linear dynamics, coupling effects and complex control requirements. This work proposes a Discrete-Time Model Predictive Control (DTMPC) algorithm to deal with the roll damping and input constraints. The aim of the proposed DTMPC-RSS is controlling ship heading and reducing roll motion simultaneously using one control input signal by changing the rudder angle. The proposed algorithm is compared with a conventional PID-RRS and the advantages of DTMPC are presented. Based on simulation results for the proposed control approach, it is demonstrated that the input constraints are totally fulfilled while the stability of the ship can be guaranteed under this condition. Also, depicted results show an accurate trajectory tracking of the yaw angle for the proposed rudder roll damping and heading control in comparison with the PID-RRS.
