Abstract In this paper, the problem of rudder roll stabilization for ships is addressed using model predictive control. The problem of rudder roll stabilization arises from using the rudder produced rolling motion of the ship to reject the undesirable wave produced roll. The main limiting factor of this problem is the highly non linear behaviour of the mechanical devices that command the rudder. The rudder mechanisms impose constraints on the maximum slew rate and magnitude attainable for the rudder movement, which directly affect the roll stabilization performance. The application of model predictive control is motivated by its essential ability to handle these kinds of constraints.
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