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Feed-forward disturbance compensation model predictive control for rudder roll stabilization

In this paper, a feed-forward disturbance compensation model predictive control (MPC) method is proposed for rudder roll stabilization (RRS). Rudder roll stabilization is an underactuated problem with actuator saturation, the roll and heading of ship will be controlled by the rudder with limited rudder angle and rudder rate. MPC deals with the underactuated and constrained problem elegantly by means of its online optimizing property. A discrete-time linear ship model is adopted as the nominal model, with which the model uncertainty and external disturbance is estimated as the lumped disturbance by a time delay estimator. The lumped disturbance is introduced to the MPC controller as the approximated predictive disturbance, and will be compensated by the control actions. Simulation results show that the proposed MPC controller possesses desired robust performance subjecting to model mismatch and varied environmental disturbances.