Stabilization of parametric roll resonance with active u-tanks via Lyapunov control design

Title: Stabilization of parametric roll resonance with active u-tanks via Lyapunov control design
Creator: Holden, Christian; Galeazzi, Roberto; Fossen, Thor I.; Perez, Tristan
Relation: European Control Conference 2009 (ECC'09). ECC'09: European Control Conference 2009 Proceedings (Budapest, Hungary 23-26 August, 2009) p. 4889-4894
Relation: http://www.conferences.hu/ecc09
Publisher: European Union Control Association (EUCA)
Resource Type: conference paper
Date: 2009
Description: Parametric ship roll resonance is a phenomenon where a ship can rapidly develop high roll motion while sailing in longitudinal waves. This effect can be described mathematically by periodic changes of the parameters of the equations of motion, which lead to a bifurcation. In this paper, the control design of an active u-tank stabilizer is carried out using Lyapunov theory. A nonlinear backstepping controller is developed to provide global exponential stability of roll. An extension of commonly used u-tank models is presented to account for large roll angles, and the control design is tested via simulation on a high-fidelity model of a vessel under parametric roll resonance.
Subject: parametric roll resonance; bifurcation; Lyapunov methods; nonlinear control
Identifier: http://hdl.handle.net/1959.13/920474
Identifier: uon:9163
Identifier: ISBN:9789633113691
Language: eng
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