Rudder roll stabilization for ships with generalized predictive control based on fuzzy gain scheduler

This paper describes an integrated controller for handling the problem on rudder roll stabilization (RRS) of ship model uncertainty and hard nonlinearities about input rate and magnitude saturations. According to the state space model of ship, a generalized predictive controller (GPC) is deduced. The controller is adjusted by fuzzy gain scheduler (FGS), which is optimized with genetic algorithms (GA). Efficiency of the integrated controller is studied and illustrated by simulations carried out with a small relatively fast monohull under the typical navigation condition as well. Simulation demonstrates the robustness of the integrated controller when changed the ship speed or the container.