标题：Optimal controllers for rudder roll damping with an autopilot in the loop * * The work was supported in part by the European Research Council (ERCStG-307207), RFBR, grant 14-08-01015 and Russian Federation President’s Grant MD-6325.2016.8.
摘要：Abstract: In this paper we propose a new approach to the design of a rudder roll stabilization system, integrated with a predesigned heading controller (autopilot). Whereas a number of methods for the roll oscillation damping have been proposed in the literature, this problem still remains challenging. In this paper we consider a linear-quadratic optimization problem, where the cost functional penalizes the roll angle, the heading deviation and the control effort (rudder angle). Approximating the wave disturbance by a polyharmonic signal with a known spectrum, we design a controller, which optimizes this quadratic performance index, providing thus a "tradeoff" between the maintenance of the desired heading, roll damping and the steering system utilization. The practical applicability of our algorithms is illustrated by numerical simulations.
关键词：KeywordsRudder roll stabilizationoscillation dampinguniversal controllership autopilot
