Roll Stabilization Control System by Sliding Mode

The development of a controller for reducing the roll motion on a small vessel is presented. The sliding mode technique will be applied to deal with several uncertainties present in the dynamic model. A simpler version of the control system has already been implemented with good results. The current working version of the controller is based on a simple on-off logic while the version that is proposed here is a sliding mode controller with boundary layer to avoid chattering. The unknown parameters will be estimated, as well as their deviations, using experimental records obtained from an offshore basin. Lastly, both controllers will be compared in terms of error versus energy demand.