Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2017, Article ID 7979438, 14 pages
https://doi.org/10.1155/2017/7979438
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.

Linked References

  1. Y. Saito and T. Ikebuchi, “Fully submerged hydrofoil vessel,” in Proceedings of the 7th Marine Dynamics Symposium on Prediction of Seakeeping Qualities of High-Speed Vessel, pp. 107–141, 1990.
  2. H. Imamura, Y. Saito, and M. Asao, “Automatic control system for jetfoil,” Kawasaki Technical Review, no. 107, pp. 1–9, 1990. View at Google Scholar
  3. S. Liu, C. Xu, and Y. Wang, “Disturbance rejection control for the course keeping of the fully-submerged hydrofoil craft,” in Proceedings of the 35th Chinese Control Conference, CCC 2016, pp. 747–751, IEEE, Chengdu, China, July 2016. View at Publisher · View at Google Scholar · View at Scopus
  4. S.-H. Kim and H. Yamato, “On the design of a longitudinal motion control system of a fully-submerged hydrofoil craft based on the optimal preview servo system,” Ocean Engineering, vol. 31, no. 13, pp. 1637–1653, 2004. View at Publisher · View at Google Scholar · View at Scopus
  5. K. D. Do and J. Pan, “State- and output-feedback robust path-following controllers for underactuated ships using Serret-Frenet frame,” Ocean Engineering, vol. 31, no. 5-6, pp. 587–613, 2004. View at Publisher · View at Google Scholar · View at Scopus
  6. L. J. Zhang, H. M. Jia, and X. Qi, “NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed,” Ocean Engineering, vol. 38, no. 13, pp. 1430–1438, 2011. View at Publisher · View at Google Scholar · View at Scopus
  7. S.-H. Kim and H. Yamato, “An experimental study of the longitudinal motion control of a fully submerged hydrofoil model in following seas,” Ocean Engineering, vol. 31, no. 5-6, pp. 523–537, 2004. View at Publisher · View at Google Scholar · View at Scopus
  8. A. Rosales and I. Boiko, “Disturbance attenuation for systems with second-order sliding modes via linear compensators,” IET Control Theory & Applications, vol. 9, no. 4, pp. 526–537, 2015. View at Publisher · View at Google Scholar · View at MathSciNet
  9. Y. Feng, F. Han, and X. Yu, “Chattering free full-order sliding-mode control,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 50, no. 4, pp. 1310–1314, 2014. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  10. J. D. Sánchez-Torres, A. Navarrete-Guzman, G. Rubio-Astorga, and A. G. Loukianov, “High order integral nested sliding mode control,” in Proceedings of the 13th International Workshop on Variable Structure Systems, VSS 2014, IEEE, Nantes, France, July 2014. View at Publisher · View at Google Scholar · View at Scopus
  11. S.-W. Ji, V. P. Bui, B. Balachandran, and Y.-B. Kim, “Robust control allocation design for marine vessel,” Ocean Engineering, vol. 63, pp. 105–111, 2013. View at Publisher · View at Google Scholar · View at Scopus
  12. J. Du, Y. Yang, D. Wang, and C. Guo, “A robust adaptive neural networks controller for maritime dynamic positioning system,” Neurocomputing, vol. 110, pp. 128–136, 2013. View at Publisher · View at Google Scholar · View at Scopus
  13. N. E. Kahveci and P. A. Ioannou, “Adaptive steering control for uncertain ship dynamics and stability analysis,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 49, no. 3, pp. 685–697, 2013. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  14. P. M. Patre, W. MacKunis, M. Johnson, and W. E. Dixon, “Composite adaptive control for Euler-Lagrange systems with additive disturbances,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 46, no. 1, pp. 140–147, 2010. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  15. H. Hammouri, G. Bornard, and K. Busawon, “High gain observer for structured multi-output nonlinear systems,” Institute of Electrical and Electronics Engineers. Transactions on Automatic Control, vol. 55, no. 4, pp. 987–992, 2010. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  16. L. Wang and J. Su, “Robust Disturbance Rejection Control for Attitude Tracking of an Aircraft,” IEEE Transactions on Control Systems Technology, vol. 23, no. 6, pp. 2361–2368, 2015. View at Publisher · View at Google Scholar · View at Scopus
  17. D. Ginoya, P. D. Shendge, and S. B. Phadke, “Sliding mode control for mismatched uncertain systems using an extended disturbance observer,” IEEE Transactions on Industrial Electronics, vol. 61, no. 4, pp. 1983–1992, 2014. View at Publisher · View at Google Scholar · View at Scopus
  18. A. Mohammadi, M. Tavakoli, H. J. Marquez, and F. Hashemzadeh, “Nonlinear disturbance observer design for robotic manipulators,” Control Engineering Practice, vol. 21, no. 3, pp. 253–267, 2013. View at Publisher · View at Google Scholar · View at Scopus
  19. H. Sun, S. Li, J. Yang, and L. Guo, “Non-linear disturbance observer-based back-stepping control for airbreathing hypersonic vehicles with mismatched disturbances,” IET Control Theory and Applications, vol. 8, no. 17, pp. 1852–1865, 2014. View at Google Scholar · View at Scopus
  20. S. Xingling and W. Honglun, “Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO,” ISA Transactions, vol. 57, pp. 10–22, 2015. View at Publisher · View at Google Scholar
  21. W. H. Chen, “Nonlinear Disturbance Observer-Enhanced Dynamic Inversion Control of Missiles,” Journal of Guidance Control & Dynamics, vol. 26, no. 1, pp. 161–166, 2012. View at Google Scholar
  22. J. Wang, S. Li, J. Yang, B. Wu, and Q. Li, “Extended state observer-based sliding mode control for PWM-based DC-DC buck power converter systems with mismatched disturbances,” IET Control Theory and Applications, vol. 9, no. 4, pp. 579–586, 2015. View at Publisher · View at Google Scholar · View at Scopus
  23. C. Wang, X. Li, L. Guo, and Y. W. Li, “A nonlinear-disturbance-observer-based DC-Bus voltage control for a hybrid AC/DC microgrid,” IEEE Transactions on Power Electronics, vol. 29, no. 11, pp. 6162–6177, 2014. View at Publisher · View at Google Scholar · View at Scopus
  24. M. Ekramian, F. Sheikholeslam, S. Hosseinnia, and M. J. Yazdanpanah, “Adaptive state observer for Lipschitz nonlinear systems,” Systems and Control Letters, vol. 62, no. 4, pp. 319–323, 2013. View at Google Scholar · View at Scopus
  25. Y. Li and S. Tong, “Adaptive Fuzzy Output-Feedback Stabilization Control for a Class of Switched Nonstrict-Feedback Nonlinear Systems,” IEEE Transactions on Cybernetics, 2016. View at Publisher · View at Google Scholar · View at Scopus
  26. S. Tong, Y. Li, and S. Sui, “Adaptive fuzzy tracking control design for uncertain non-strict feedback nonlinear systems,” IEEE Transactions on Fuzzy Systems, vol. 24, no. 6, pp. 1441–1454, 2016. View at Publisher · View at Google Scholar
  27. Y. Li, S. Tong, L. Liu, and G. Feng, “Adaptive output-feedback control design with prescribed performance for switched nonlinear systems,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 80, pp. 225–231, 2017. View at Publisher · View at Google Scholar · View at MathSciNet
  28. S. Tong, Y. Li, and S. Sui, “Adaptive Fuzzy Output Feedback Control for Switched Nonstrict-Feedback Nonlinear Systems With Input Nonlinearities,” IEEE Transactions on Fuzzy Systems, vol. 24, no. 6, pp. 1426–1440, 2016. View at Publisher · View at Google Scholar
  29. N. Sakamoto, B. Rehák, and K. Ueno, “Nonlinear Luenberger observer design via invariant manifold computation,” IFAC Proceedings Volumes, vol. 47, no. 3, pp. 37–42, 2014. View at Google Scholar · View at Scopus
  30. A. Alessandri and A. Rossi, “Increasing-gain observers for nonlinear systems: stability and design,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 57, pp. 180–188, 2015. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  31. C. Mu and C. Sun, “A new finite time convergence condition for super-twisting observer based on Lyapunov analysis,” Asian Journal of Control, vol. 17, no. 3, pp. 1050–1060, 2015. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  32. J. M. Daly and D. W. L. Wang, “Output feedback sliding mode control in the presence of unknown disturbances,” Systems and Control Letters, vol. 58, no. 3, pp. 188–193, 2009. View at Publisher · View at Google Scholar · View at Scopus
  33. H. v. Grip, A. Saberi, and T. A. Johansen, “Observers for interconnected nonlinear and linear systems,” Automatica. A Journal of IFAC, the International Federation of Automatic Control, vol. 48, no. 7, pp. 1339–1346, 2012. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  34. M. Ghanes, J. De Leon, and J.-P. Barbot, “Observer design for nonlinear systems under unknown time-varying delays,” Institute of Electrical and Electronics Engineers. Transactions on Automatic Control, vol. 58, no. 6, pp. 1529–1534, 2013. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  35. M. Ekramian, F. Sheikholeslam, S. Hosseinnia, and M. J. Yazdanpanah, “Adaptive state observer for Lipschitz nonlinear systems,” Systems and Control Letters, vol. 62, no. 4, pp. 319–323, 2013. View at Publisher · View at Google Scholar · View at Scopus
  36. M. H. Holakooie, M. Ojaghi, and A. Taheri, “Full-order Luenberger observer based on fuzzy-logic control for sensorless field-oriented control of a single-sided linear induction motor,” ISA Transactions, vol. 60, pp. 96–108, 2016. View at Publisher · View at Google Scholar · View at Scopus
  37. T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, West Sussex, UK, 2011. View at Publisher · View at Google Scholar
  38. H. K. Khalil, Nonlinear Systems, Prentice-Hall, Inc, Upper Saddle River, NJ, USA, 3rd edition, 2002.
  39. R. P. Panneer Selvam and S. K. Bhattacharyya, “System identification of a coupled two DOF moored floating body in random ocean waves,” Journal of Offshore Mechanics and Arctic Engineering, vol. 128, no. 3, pp. 191–202, 2006. View at Publisher · View at Google Scholar · View at Scopus