Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control

The motion control of a surface ship based on four degrees freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering model is studied in this paper. A time-scale decomposition method introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at same time. objectives are let track predefined curve path under environmental disturbances, reduce roll singular perturbation used decouple whole system into two subsystems different time scales: slow subsystem fast reduction subsystem. coupling effect also considered framework analysis. RRS only possible when there so-called bandwidth separation characteristic system, which requires large gap between subsystems. To avoid being affected by wave disturbances high frequency uncertainties, L1 adaptive subsystem, while Proportion-Differentiation (PD) law adopted Simulation results show effectiveness robustness proposed strategy.