Anti-roll robust control on nonlinear ship system under stochastic wave

In this paper, anti-roll robust control nonlinear ship system under stochastic beam sea is designed based on stochastic control Lyapunov function. In order to guarantee that system could get corresponding states to design controller, a reference model is built to offer predicting states. When there are errors between reference model and practical system, the bound of errors on parameters should be pointed to guarantee that the controller still work. Simulation shows that the capsize probability is largely reduced based on the control policy and controller. Examples are given to illustrate the application of the method.