Rudder-roll damping effect by control of the rudder command time moments

Abstract The rudder commands generated to control the yaw angle affect simultaneously the roll angle. For mono-variable autopilots, there are time moments when the rudder command in one way can have positive or negative influences on roll oscillations. It is important to generate only rudder commands with damping or non-increasing effects over roll movements. The goal of this paper is to identify the time intervals when rudder commands have positive or negative influences on roll angle and to generate several expert rules which can be used to implement a more efficient yaw control law.