In this paper the simultaneous roll reduction and course keeping problem for a surface vessel by means of active fins and rudder is addressed. This work extends the results proposed in [Carletti et al. (2010)] by considering an alternative nonlinear multivariable ship dynamics where the wave effects are modeled as forces and moments affecting the system dynamics rather than as disturbances affecting the control inputs. A theoretical analysis of the boundedness of the zero dynamics along with the design of a sliding mode control are proposed. Simulations results are provided to corroborate the theoretical analysis.
Simultaneous roll damping and course keeping via sliding mode control for a marine vessel in seaway / C., Carletti; A., Gasparri; Longhi, Sauro; G., Ulivi. - Volume 18, Part 1, 2011:(2011), pp. 13648-13653. (Intervento presentato al convegno 18th IFAC World Congress tenutosi a Milan nel August 2011) [10.3182/20110828-6-IT-1002.03670].