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Mathematical Problems in Engineering
Volume 2017, Article ID 7979438, 14 pages
Research Article

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

College of Automation, Harbin Engineering University, Harbin 150001, China

Correspondence should be addressed to Changkui Xu; nc.ude.uebrh@iukgnahcux

Received 15 March 2017; Accepted 13 June 2017; Published 20 July 2017

Academic Editor: Rafael Morales

Copyright © 2017 Sheng Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.