ADAPTIVE NONLINEAR CONTROL FOR VESSEL ROLL STABILIZATION

The paper describes an adaptive neural network based nonlinear control for roll stabilization of ocean motoryachts. The advantage of the adaptive controller is to improve vessel roll stabilization performance under a variety of operational and environment conditions. The application of nonlinear control theory allows to compensate for nonlinearities in the control design. The analysis of the control stability is based on the Lyapunov theory. The proposed adaptive controller is tested by a simulation study based on a nonlinear model, describing the dynamics of a vessel in four degrees of freedom. The wave excitation forces are simulated as multisine time series.