The zero-speed fin stabilizer system is used to realize the roll attitude control of marine robot which navigates
near sea surface with low speed. Based on the nonlinear dynamic properties of zero speed fin stabilizer and marine robot’s
decoupling rolling model, the roll damping control law with master-slave structure is designed. The variable structure master
controller with the integral sliding mode is proposed to calculate the desired righting moment, and the nonlinear tracking
control theory and feedback linearization method are used to design the slave controller, which drives the zero-speed fin
stabilizer to generate actual roll stabilizing moment. The simulation results and the theoretical analysis are presented to show
the stability and effectiveness of the proposed control law.