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- Title
Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach.
- Authors
Liu, Sheng; Xu, Changkui; Zhang, Lanyong
- 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.
- Subjects
HYDROFOIL boats; ROBUST control; VELOCITY; LYAPUNOV stability; HYDRODYNAMICS
- Publication
Mathematical Problems in Engineering, 2017, p1
- ISSN
1024-123X
- Publication type
Article
- DOI
10.1155/2017/7979438