Command-filtered Backstepping Control for Stabilization of Ship Rolling Based on Nonlinear Disturbance Observer

Command-filtered backstepping control (CBC) based on nonlinear disturbance observer (NDO) is designed to deal with stabilization of nonlinear ship rolling in the rough sea. A dynamic model of ship rolling stabilization is presented in dimensionless form, with wave disturbance modeled by using power spectrum weighted averaging method. The proposed controller can guarantee the stabilization of the whole system. Simulation results show that the control strategy can effectively decrease the rolling motion under random wave disturbances. The proposed controller has more excellent dynamic performance than traditional proportional-derivative (PD) controller and the command-filtered backstepping controller. © 2019, Editorial Office of Ship Building of China. All right reserved.