Robust course keeping control of a fully submerged hydrofoil vessel without velocity measurement: an iterative learning approach (Q1993162)
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English | Robust course keeping control of a fully submerged hydrofoil vessel without velocity measurement: an iterative learning approach |
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Robust course keeping control of a fully submerged hydrofoil vessel without velocity measurement: an iterative learning approach (English)
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5 November 2018
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Summary: This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closed-loop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance.
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