Dual-Gyro Nonlinear Control for Roll–Yaw Attenuation in High-Speed Crafts

We present a nonlinear control framework for roll–yaw attenuation in a high-speed passenger craft equipped with two counter-rotating gyrostabilizers. The vessel is modeled with a 6-DOF maneuvering dynamics (Fossen-style) augmented by two DOFs per gyro, explicitly coupling spin and precession torques with the hull dynamics and using hydrodynamic coefficients (added mass and radiation damping) computed via CFD. Hydrostatic contributions are computed online during simulation to avoid pre-tabulated approximations. We compare classical precession-only control (synchronized dual gyros) with two advanced strategies: FLOP (Feedback Local Optimality Principle) and MPC acting on both spin and precession under actuation and power limits. The comfort objective enters the cost via the ISO-2631 Motion Sickness Incidence proxy, using KPI derived from weighted vertical accelerations over 20 min exposure. On the reference catamaran, FLOP outperforms passive and PID baselines, achieving up to ~80–83% roll reduction in moderate seas while quantifying the performance limits near resonance and the associated power budget. Results highlight the trade-off between comfort gains and energy usage, and the benefits of multi-objective control when simultaneously targeting roll and yaw. The study provides a reproducible pipeline, multibody dynamics, hydrodynamic loading models, real-time hydrostatics, and ISO-2631-based comfort metrics, for gyro-based stabilization of marine craft.