Robust course keeping control of a fully submerged hydrofoil vessel with actuator dynamics: a singular perturbation approach

DOI10.1155/2017/6402012MaRDI QIDQ1992984zbMATH OpenOpenAlexFDO

Authors Sheng Liu, Changkui Xu, Lanyong Zhang

Publication date 5 November 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/6402012

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Time-scale analysis and singular perturbations in control/observation systems (93C70)

Review text

Summary: This paper presents a two-time scale control structure for the course keeping of an advanced marine surface vehicle, namely, the fully submerged hydrofoil vessel. The mathematical model of course keeping control for the fully submerged hydrofoil vessel is firstly analyzed. The dynamics of the hydrofoil servo system is considered during control design. A two-time scale model is established so that the controllers of the fast and slow subsystems can be designed separately. A robust integral of the sign of the error (RISE) feedback control is proposed for the slow varying system and a disturbance observer based state feedback control is established for the fast varying system, which guarantees the disturbance rejection performance for the two-time scale systems. Asymptotic stability is achieved for the overall closed-loop system based on Lyapunov stability theory. Simulation results show the effectiveness and robustness of the proposed methodology.

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Cites work

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• Robust course keeping control of a fully submerged hydrofoil vessel without velocity measurement: an iterative learning approach

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