Nonlinear Model-Based Control of a Gyroscopic Stabilization System for High-Speed Crafts

The growing demand for stability in high-speed vessels has driven the development of advanced gyroscopic systems to reduce roll motion and improve passenger comfort. This work proposes a model-based nonlinear control approach applied to an active gyroscopic stabilizer installed on a semi-displacement catamaran. A 10-degree-of-freedom dynamic model has been developed, 6 for the vessel and 2 for each pair of gyroscopes, encompassing metacentric buoyancy forces and comprehensive scenarios that account for hydrodynamic actions, wind, waves, and propulsion. The control system adopts the FLOP strategy (Feedback Local Optimality Principle), which optimizes the gyroscopes’ precession and spin speed in real time to adaptively counteract roll motions and, to a lesser extent, pitch, thereby reducing local accelerations. Simulations conducted under various sea conditions (Beaufort 2–4) show up to an 80% reduction in roll amplitude, along with up to a 40% improvement in motion sickness incidence (MSI) evaluated in accordance with ISO 2631. Additionally, the FLOP controller outperforms passive gyroscopic systems and a traditional PID in terms of stability, maintaining modest power demands even in the presence of resonant frequencies and nonlinear wave interactions. Finally, an energy analysis has been carried out to assess the power required for installing the gyroscopic system, considering the added displacement and resulting hydrodynamic resistance, as well as the power needed for active precession control and spin speed regulation, considering the benefits gained in stability and comfort.