A two layer controller for integrated fin and rudder roll stabilisation

Abstract The design of integrated fin-rudder roll stabilisation (IFRS) control system has been studied in this paper. A new approach based on model based predictive control with dynamic weightings is employed to design the control system. It is assumed that the fin controller and the autopilot are designed and implemented. The controller is designed taking into account the non-minimum phase interaction from yaw to roll and the rudder angle and rate constraints. The rudder angle and rate are defined as the outputs of closed-loop ship model and outputs constraints are introduced to avoid actuator saturation. It is also shown that the weightings parameters can be used to make the controller adapt to different sea conditions. Simulation results are presented to demonstrate the effectiveness of the proposed control design technique.