Stabilization of Parametric Roll Resonance with Active U-Tanks via Lyapunov Control Design

Christian Holden, Roberto Galeazzi, Thor Inge Fossen, Tristan Perez

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Parametric ship roll resonance is a phenomenon where a ship can rapidly develop high roll motion while sailing in longitudinal waves. This effect can be described mathematically by periodic changes of the parameters of the equations of motion, which lead to a bifurcation. In this paper, the control design of an active u-tank stabilizer is carried out using Lyapunov theory. A nonlinear backstepping controller is developed to provide global exponential stability of roll. An extension of commonly used u-tank models is presented to account for large roll angles, and the control design is tested via simulation on a high-fidelity model of a vessel under parametric roll resonance.
Original languageEnglish
Title of host publicationProceedings of the European Control Conference
Publication date2009
ISBN (Print)978-963-311-369-1
Publication statusPublished - 2009
EventEuropean Control Conference 2009 - Budapest, Hungary
Duration: 23 Aug 200926 Aug 2009


ConferenceEuropean Control Conference 2009
Internet address


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