Back-stepping robust stabilization and its application in rudder roll stabilization

A scalar controller was designed for a class of nonlinear systems with unknown or uncertain parameters, and also with disturbance of finite energy. In the roll motion of the fishery administration ship 1500HP under weak wave, the weak chaos phenomenon was discussed, and the designed scalar controller was used as rudder moment to stabilize the roll motion. The simulation results show that the disturbance attenuation is satisfactory, the states' convergence is rapid, and the overshoot is avoided. The process of roll stabilization is relatively smooth, which contributes to the safety of the crew and the equipments. The control design method based on nonlinear time-domain model can be widely extended to other roll stabilization problem.