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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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  • Sheng Liu
  • Changkui Xu
  • Lanyong Zhang

Abstract

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.

Suggested Citation

  • Sheng Liu & Changkui Xu & Lanyong Zhang, 2017. "Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-14, July.
  • Handle: RePEc:hin:jnlmpe:7979438
    DOI: 10.1155/2017/7979438
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