Disturbance rejection control for the course keeping of the fully-submerged hydrofoil craft

摘要

this paper presents a disturbance rejection control methodology for the course keeping of a fully-submerged hydrofoil craft. The course keeping dynamics of the fully-submerged hydrofoil craft with parameter perturbation is firstly analyzed. Then an extended disturbance observer (EDO) is developed to make real time estimate of the disturbance as well as the model uncertainties. A nonsingular terminal sliding mode controller is proposed to compensate the residual error of the EDO. Stability of the overall closed-loop system is evaluated to be ultimate uniformly bounded. Numerical simulation indicates the effectiveness of the proposed control method.