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Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach
Joint Authors
Liu, Sheng
Xu, Changkui
Zhang, Lanyong
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-05
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Liu, Sheng& Xu, Changkui& Zhang, Lanyong. 2017. Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1191390
Modern Language Association (MLA)
Liu, Sheng…[et al.]. Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach. Mathematical Problems in Engineering No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1191390
American Medical Association (AMA)
Liu, Sheng& Xu, Changkui& Zhang, Lanyong. Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1191390
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191390