A. Zaher (Kuwait), M. Zohdy, M. Shillor (USA), and A. Abu-Rezq (Kuwait)
Nonlinear Systems, Backstepping Control, and Chaos.
In this paper, the dynamics of roll motions of ships are studied by means of modern nonlinear techniques to exemplify the behaviour of nonlinear systems with multiple equilibria. The main objective is to analyze and control this system. A nonlinear recursive backstepping controller is proposed and the transient performance is investigated. Systematic following of a reference model is introduced. Robustness problems as well as ways to tune the controller parameters are examined. Simulation results are submitted for the uncontrolled and controlled cases, verifying the effectiveness of the proposed controller. Finally a discussion and conclusions are given with possible future extensions.
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