Ship longitudinal stabilization control based on CGSA and nonlinear switch modification

To further improve the ship's longitudinal motion stabilization control effect and the energy saving and robustness of the control method, this paper takes the training ship “YuKun” of Dalian Maritime University as the controlled plant. It analyzes the causes of the severe longitudinal motion of “YuKun”. In ship longitudinal pitch reduction control, the unstable controlled plant is transformed into a stable generalized controlled plant by Nyquist shaping, using the introduced mathematical tool of power function and gain adjustment. The controller is designed with a third-order closed-loop gain shaping algorithm (CGSA) and a switch nonlinear modification function. In the verification process, the performance index, Nyquist stability analysis, model perturbation simulation, and comparative.