针对恶劣海况下欠驱动船舶摇摆和航行能耗问题，本项目开展阻力和航速最优化的摇摆机理与舵减摇控制方法研究。阐明摇摆运动引起阻力增加的力学机理，基于三维势流理论建立摇摆运动波浪增阻理论模型，揭示瞬时阻力增加最小化的摇摆运动规律，提出基于时变航速最优化的舵减摇控制指标。研究航速瞬时随机波动对摇摆动力学模型的影响机制，提出基于时变航速的在线快速参数估计新方法，发展针对模型参数时变的连续非奇异终端滑模自适应舵减摇控制方法，探索扰动不匹配条件下存在模型动态不确定的航速最优化舵减摇控制新方案。研究转舵最优化升力机制，提出舵机伺服系统的有限时间鲁棒能量最优化控制方法和低舵速下的升力补偿控制方法；研究多工况下多约束多目标随机最优匹配的新方法，提出综合节能的主从结构快速鲁棒自适应舵减摇控制方案。本项目的研究为新型高效节能舵装置的开发提供理论基础和技术支持，对船舶航行节能减排有重要理论意义和应用价值。

Aiming at the problem of underactuated ship motions and sailing energy consumption under the condition of rough sea state, this program addresses the motion mechanism and rudder roll stabilization (RRS) control method with the optimization of resistance and forward speed. Expounding the mechanical mechanism of added resistance caused by ship motions and the added resistance model is proposed base on the 3D potential flow theory. Revealing the motion law of the minimization of the instantaneous added resistance and developing the RRS control performance criteria with time-varying speed optimization. Study the mechanism of the kinetic model affected by the stochastic fluctuation of the instantaneous speed and proposing a new online fast parameter estimation method base on the time-varying speed. Developing a continuous nonsingular terminal sliding mode adaptive RRS control method with time varying mode parameters and a new speed optimal RRS control scheme with uncertain dynamics under the condition of mismatched disturbance. Study the mechanism of the optimal rudder force, giving the finite-time robust energy optimization control method of rudder servo system and the force compensation control method with low-speed rudders. Study the multi-constrained and multi-objective stochastic optimal matching method with multi-working conditions, then proposing the comprehensive energy-saving master-slave fast robust adaptive RRS scheme. This program provides both theoretical principle and technical support for new-style energy saving rudder devices. This is of great theoretical significance and practical application value for ship sailing fuel efficiency.