Attitude Estimation And Control Of High Speed Hydrofoil Catamaran

In the state of high speed,hydrofoil catamaran will be inevitably affected by the influence of various interference from the external environment,such as wind,wave and other random interference factors.These interference factors can produce disturbance of force and torque from different directions on hydrofoil,and then affecting the normal and smooth sailing for the hydrofoil catamaran.Therefore,in order to make the hydrofoil catamaran will remain stable,we must take some measures to control.We need to design controllers for hydrofoil catamarans to produce the required effective control volume.In the control before,we need to know the attitude of hydrofoil catamaran sailing on the sea.Therefore,our main work is to estimate the attitude of hydrofoil catamaran;then the hydrofoil catamaran control design.This paper considers the longitudinal attitude of the hydrofoil catamaran heave displacement and pitch angle.According to the research of longitudinal attitude of hydrofoil catamaran,this paper has done the following work:?1?Considering the non-linearity of hydrofoil catamaran motion model,firstly,T-S fuzzy model is built for hydrofoil catamaran.Secondly,combining robust filtering and T-S fuzzy model,a robust model based on T-S fuzzy model is proposed.Finally,the linear matrix inequality is used to solve the gain matrix to estimate the longitudinal attitude of hydrofoil catamaran.Simulation results show that:the estimated time is 2.976s,the variance of the heave displacement error is2.2×10^-3,the pitch angle error variance is8.6015×10^-5..?2?Aiming at the nonlinearity of the motion model,the randomness of sea wave disturbance and the uncertainty of the parameters,this paper presents another method to design an adaptive observer for uncertain stochastic nonlinear systems.By designing an adaptive learning law to achieve the goal of solving multiple parameter uncertainties simultaneously,and using the known information of uncertain nonlinear function as much as possible,a high performance nonlinear adaptive observer is designed.And the Lyapunov stability theorem is used to prove the stability of the adaptive observer.The simulation results show that:The estimated time is 1.685s,the variance of the heave displacement error is2.1×10^-3,the pitch angle error variance is1.4860×10^-5.At the same time,this method is compared with the robust filtering method based on T-S fuzzy model.?3?Aiming at the random disturbance and uncertainty of the hydrofoil craft during navigation,the control strategy of the hydrofoil catamaran is proposed,which is based on the parameter maximizing strategy.Firstly,the strategy gradient method based on parameter exploration is used to reduce the gradient variance in reinforcement learning.Then,the reinforcement learning is transformed into solving the maximum likelihood function.Finally,the expectation-maximuzation algorithm is used to solve the control parameters.We select the control action according to the control parameters.The simulation results show that the maximum control effect can be achieved 73.24%.In this paper,simulation based on MATLAB simulation platform,respectively,for different typical sea conditions.