SLIDING MODE AND PID CONTROLLERS FOR SHIP ROLL STABILISATION: A COMPARATIVE SIMULATION STUDY

摘要

This paper addresses the sliding mode control design for roll reduction of a ship. The sliding mode control (SMC) technique yields the appropriate control with significant roll reduction compared with other controllers such as PID. The system comprises of three different controllers, roll-fin, roll-rudder and autopilot. Therefore, for each situation along the ship trajectory, the triple controllers should be designed. It is not necessary to have the same controller structure for all three subsystems. This paper compares SMC controllers individually with PID controllers for each subsystem, and demonstrates the results of the implementation of controllers with different structures when applied to the entire system.