Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach
| Autor: | Lanyong Zhang, Changkui Xu, Sheng Liu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Singular perturbation Scale (ratio) Article Subject General Mathematics 02 engineering and technology Servomechanism law.invention 020901 industrial engineering & automation Exponential stability Control theory Robustness (computer science) law 0202 electrical engineering electronic engineering information engineering Lyapunov stability business.industry lcsh:Mathematics 020208 electrical & electronic engineering General Engineering Control engineering lcsh:QA1-939 lcsh:TA1-2040 lcsh:Engineering (General). Civil engineering (General) business Actuator Scale model |
| Zdroj: | Mathematical Problems in Engineering, Vol 2017 (2017) |
| ISSN: | 1024-123X |
| DOI: | 10.1155/2017/6402012 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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