Stabilization of Floating Roll by Fuzzy PID ‎Controller Using New Concept of Internal Model

In this paper, the nonlinear modeling of ship roll angle movement in the presence of disturbances and its control through an adaptive method is investigated. One of the important issues in the control of vessels is to have a model of non-linear behavior, by using the dynamic equations of the ship’s motion, the ship’s roll motion equations is obtained in Third order dynamic equations. Another innovation presented in this paper is the design of a controller based on the input-output feedback linearization method and according to the proportional-integrator and derivative controller, which coefficients are adjusted by fuzzy logic to reject and reduce the sinusoidal disturbance effects. Therefore, another innovation of this paper is to minimize the effects of sinusoidal disturbance fluctuations in the roll angle of the ship in addition to achieving a zero degree roll angle. The results of the proposed method have been evaluated in MATLAB software and despite sinusoidal disturbances with a certain range, the proposed method has made the roll angle stable within an acceptable range and its effects on the roll angle of the ship have been eliminated.