Generalized Minimum Variance Control to Suppress Rolling and Turning with Ship Steering Using Rudder

Ship is rolled greatly due to the waves in bad weather. The rolling cause the ship to overturn or cause collapse of the load. The purpose of this study is to suppress the roll of ship. The rolling suppression is controlled by the ship steering using rudder in this study. The rolling can be suppressed by the steering, but the turning also occurs and the ship disengages from the course. This study applies Generalized Minimum Variance Control (GMVC). This study designs a new algorithm of GMVC. The proposed control system is expressed as Single Input Multi Outputs (SIMO) system. Then the single input means ship steering using rudder and the multi outputs mean ship's rolling angle and turning angular velocity. The SIMO model are identified by ship's experiments. The cost function of proposed GMVC has a rolling suppression term, a turning suppression term and a control input term. The proposed GMVC is designed with servo type against the model error and the wave's rolling effect.