Rudder roll stabilization with robust predictive control based on fuzzy rules

Table 1. The rule of weights regulation
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Table 1. The rule of weights regulation
权重艏摇角速度r
O S M B L
航向误差$ \bar \psi $ O w1 w1 w1 w2 w2
S w1 w1 w1 w2 w2
M w4 w4 w4 w2 w2
B w3 w3 w4 w5 w5
L w3 w3 w3 w5 w5

Table 2. Roll reduction rate of each control method
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Table 2. Roll reduction rate of each control method
减摇方法减摇率/%
DOB-MPC^[12] 33.6816
DCMPC^[13] 28.8399
FRMPC 34.5799

Table 3. Response time of each control method
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Table 3. Response time of each control method
减摇方法响应时间/s
DOB-MPC^[12] 27.55
DCMPC^[13] 22.05
FRMPC 20.25

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Yifeng QIN, Zhiquan LIU. Rudder roll stabilization with robust predictive control based on fuzzy rules[J]. Chinese Journal of Ship Research, 2023, 18(4): 206

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