Nonlinear rudder roll stabilization using fuzzy gain scheduling - PID controller for naval vessel

Rudder roll stabilization (RRS) for ship steering is to only use the rudder as the actuator for maintaining the autopilot heading and reducing the roll angle. In this study, a nonlinear control scheme for RRS was proposed based on Fuzzy Gain Scheduling (FGS)-PID. The proposed method was applied to a nonlinear multirole naval vessel model. The proposed method is compared with traditional PID and LQR. FGS-PID has more robust performance than the counterparts in yaw motion. For roll motion, the proposed control method has bigger roll reduction than Ziegler-Nichols PID. Based on the tracking control simulation result, FGS-PID can follow the desired heading changing very well, as well as in maintaining the roll angle below the limit.