The rolling and heeling experienced by a ship during turning will be more severe under the interference of winds and waves, which will seriously affect the navigation safety of the ship. The fin stabilizer is currently the best active anti-rolling device, which is usually used to reduce the roll of the ship during straight-line sailing. The purpose of this work is to study the use of fin stabilizers to reduce the rolling and heeling during ship turning, considering the non-linearity and uncertainty during the rotation. The 4 degrees of freedom (4-DOF) nonlinear motion model of a multi-purpose naval vessel is established. The forces and moments produced by fin stabilizers, rudders, propellers, and waves are also considered. The nonlinear control model of rotation and roll is derived and established. Given the non-linearity and uncertainty in the ship turning process, an L2-gain based robust adaptive control is proposed to control the fin stabilizers to reduce the turning heel and roll motion. The proof of the stability and the detailed design process of the controller are also given. Simulations are carried out to verify the effectiveness of the proposed control strategy. For comparison purposes, the simulation results under a well-tuned PID controller are also given. The simulation results show that the developed control strategy can effectively reduce the heel and roll during ship turns, and it has good robustness against uncertainty and internal and external interference.

中文翻译：

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船舶转弯时使用鳍稳定器的基于L2增益的自适应鲁棒减摇自适应控制

在风浪的干扰下，船舶在转向过程中所经历的侧倾和后倾将更加严重，这将严重影响船舶的航行安全。翅片稳定器是目前最好的主动防侧倾装置，通常用于在直线航行期间减小船舶的侧倾。这项工作的目的是考虑到旋转过程中的非线性和不确定性，研究使用鳍式稳定器来减少船舶转弯期间的滚动和横倾。建立了多用途舰船的四自由度（4-DOF）非线性运动模型。还考虑了鳍稳定器，方向舵，螺旋桨和波浪产生的力和力矩。推导并建立了非线性的旋转和滚动控制模型。考虑到船舶转向过程中的非线性和不确定性，提出了一种基于L2增益的鲁棒自适应控制来控制鳍稳定器，以减少转向横倾和横摇运动。还给出了控制器的稳定性证明和详细的设计过程。进行仿真以验证所提出的控制策略的有效性。为了进行比较，还给出了经过良好调整的PID控制器下的仿真结果。仿真结果表明，所开发的控制策略能够有效降低船舶转弯时的横倾和横摇，并且具有良好的鲁棒性，可以抵抗不确定性以及内外部干扰。还给出了控制器的稳定性证明和详细的设计过程。进行仿真以验证所提出的控制策略的有效性。为了进行比较，还给出了在经过良好调整的PID控制器下的仿真结果。仿真结果表明，所开发的控制策略能够有效降低船舶转弯时的横倾和横摇，并且具有良好的鲁棒性，可以抵抗不确定性以及内外部干扰。还给出了控制器的稳定性证明和详细的设计过程。进行仿真以验证所提出的控制策略的有效性。为了进行比较，还给出了在经过良好调整的PID控制器下的仿真结果。仿真结果表明，所开发的控制策略能够有效降低船舶转弯时的横倾和横摇，并且具有良好的鲁棒性，可以抵抗不确定性以及内外部干扰。