Autonomous Vehicles Control, Part IX: Ship Roll Angle Control using I-PD, PD-PI and 2DOF-1 Controllers Compared with a PI Controller

Research Article

Abstract

This is the 9th part in a series of research papers investigating autonomous vehicle control. The paper presents the proposal of using three of the second generation of PID controllers presented by the author since 2014 (I-PD, PD-PI and 2DOF-1 controllers). The controllers are tuned for the control of the ship roll angle, the roll angle limit is assigned and plotted with the optimal step time response of the ship roll angle and comparison with conventional PI controller is presented and the best controller for the purpose of ship roll angle control is assigned.