Study on Stabilization Control of Anti-roll System for Amphibious Vehicles

Amphibious vehicles have both terrestrial mobility and maritime navigation, exhibiting significant potential for deployment in complex environments. In marine navigation mode, wave-induced roll motion severely compromises platform stability and operational performance. In this paper, a new modular active anti-rolling system for amphibious vehicles was modeled around its mechanical characteristics and integrated structure. An adaptive stability augmentation control algorithm was designed to dynamically compensate for the influence of wave disturbance on the roll attitude of the vehicle. A nonlinear dynamic vehicle motion model of a complete six-degree-of-freedom was constructed and a series of comparative simulation experiments were conducted under typical sea state conditions. The results demonstrate that the system exhibits excellent anti-roll performance and rapid dynamic response.