Application of particle swarm optimized PDD2 control for ship roll motion with active fins

Melek Ertogan, Seniz Ertugrul, Metin Taylan

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


This paper presents an intelligent control of a ship's roll motion damping system consisting of a pair of active fins driven by a hydraulic system. The suggested intelligent controller updates coefficients of the proportional-derivative-second derivative controller (PDD2) using particle swarm optimization (PSO). The memory-based and the triggered-memory-based PSO algorithms are studied to improve the performance of PSO-PDD2 algorithm for various sea conditions using simulations. The resulting triggered-memory-based PSO-PDD2 controller shows a superior total roll motion damping performance. Damping of small roll motions has also been achieved. The PSO-PDD2 active fin system controller has been implemented for the sample ship, Marti, in a full-scale sea trial in real time. Results of both simulations and real-time trials are presented. Application of PSO has yielded very promising results not only for PDD2 roll damping controller but also for other possible marine control application.

Original languageEnglish
Article number7270316
Pages (from-to)1004-1014
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
Publication statusPublished - Apr 2016

Bibliographical note

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© 1996-2012 IEEE.


  • Fin stabilizer control
  • Hydraulic active fin system
  • Particle swarm optimization
  • Real-time control
  • Ship roll motion damping


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