| It is a new types of antirolling technology developed in recent years that shipping utilizes the rudders to reduce the roll. It has many features such as low fabricating cost, feasible volume, and convenient maintenance. It not only can be applied in large-and-middle-scale naval ship and merchant ship, but also can be convenient to install and rebuild in the active naval vessels which have no antirolling equipment. So it has an extremely wide application prospect.In this paper we estimate the states to the known boat model at first using Kalman filter and stochastic multivariate optimum control theory, and then use stochastic optimum control to handle rudders in order to achieve the goal of reducing rolling. Disturbing force and moment of shipping produced by random wave are the steady stochastic process, it is a kind of colored noise, but traditional Kalman filter demands that disturb of system is the white noise. There are two methods alternatively. On one hand, we can regard the disturbing force and moment of colored noise as white noise used in the Kalman filter to estimate the states, and then we utilize the stochastic optimum control theory to control the rudders. This method is called hypo-optimum stochastic control. On the other hand, we can model the wave through modeling filter of wave disturb, and then import the white noise into the new system as the input expanding the system and estimate states through Kalman filter, lastly control rudders reducing rolling through stochastic optimum control theory. This method is called optimum stochastic control. In this text fuzzy PID controller which parameters are self-adapting is adopted to realize the purpose of reducing the roll of shipping by rudders and the control results are relative good.In this paper theoretical investigation and large numbers of simulation results indicated that it is feasible that shipping utilizes the rudders to reduce rolling, and stochastic and fuzzy PID control adopted in this paper have better results.
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