Design and development of a hull stabilization system for personnel carrier

Abstract

This paper presents a design and development of a hull stabilization system for personal carrier. A Sliding Mode Controller (SMC) was employed to control roll angle of the carrier, which is the most critical degree-of-freedom (DOF) to stabilize the carrier. Simulation results show good performance of the proposed controller, which can bring the roll angle to the setpoint quickly with a critical damp response. A comparison between open-loop and SMC was also conducted, the result of which ensures the effectiveness of the algorithm. A carrier testbed equipped with a digital gyroscope as the attitude sensor and trolling motors as the actuator, was constructed to test and validate the possibility and performance of the propose stabilization system.