Design Fuzzy Input-Based Adaptive Sliding Mode Control for Vessel Lift-Feedback Fin Stabilizers with Shock and Vibration of Waves

Table 3

Antirolling effect of two controllers.

Speeds (Kn)	Encounter angle (°)	Without fin		PID controller			Fuzzy input-based adaptive sliding mode controller
		Mean (°)	Variance (°)	Mean (°)	Variance (°)	Roll reduction rate (%)	Mean (°)	Variance (°)	Roll reduction rate (%)
10	45°	9.0564	4.3714	1.7660	0.7429	80.5	1.4037	0.6671	84.5
	90°	13.7288	6.5789	1.4141	1.0475	89.7	1.2081	1.0322	91.2
	135°	7.9722	3.7722	0.9407	0.4513	88.2	0.7892	0.372	90.1
20	45°	6.1256	2.8846	0.9433	0.345	84.6	0.8515	0.3017	86.1
	90°	10.366	4.5874	0.7982	0.5475	92.3	0.6945	0.4337	93.3
	135°	5.7668	2.7427	0.4729	0.1999	91.8	0.3229	0.1537	94.4
30	45°	4.2979	1.991	0.3653	0.2015	91.5	0.3009	0.1487	93
	90°	8.3652	3.8709	0.5019	0.2341	94.0	0.2510	0.1895	97
	135°	4.0524	1.9457	0.2512	0.0845	93.8	0.1175	0.0654	97.1