MULTI-OBJECTIVE OPTIMISATION OF PID AND H_∞ FIN/RUDDER ROLL CONTROLLERS

摘要

Active control of ship roll is necessary for operability of an important number of ships. As such it has been strongly developed in the past twenty years. A way of improving performances is to use and control rudders as well as fins. A MIMO control law synthesis methodology is presented in this paper, which is based on multi-objective optimisation. The optimisation is realised with a genetic algorithm. It is applied to a PID and a H_∞ controller, both MIMO. Simulation results with various speeds are given.