Since large heave and pitch motions of a high-speed multihull seriously affect the navigability of the ship, it is significant to design the effective anti-pitching control for the multihull. However, the existing anti-pitching controllers are all designed based on deterministic dynamics models and have disadvantages of low control robustness, high dependence on experience, high complexity and low anti-pitching performance, such that the applicability and effectiveness of the controllers can be severely deteriorated. In this paper, we propose a robust-decoupled anti-pitching controller composed of a proportional–differential (PD) control term and an extended state observer (ESO)-based uncertainty compensation term. Compared with the related results, the contributions of the proposed approach include: (1) the PD control gains are designed using the equivalent noise bandwidth theory based on the stochastic characteristics of the heave/pitch motions and (2) the control robustness is effectively improved by the ESO-based compensation. The stability of the closed-loop control system is proved by theoretical analysis. The effectiveness of the proposed algorithm has been verified by simulations and experiments in which the heave and pitch are reduced by 20–35% and 40–50%, respectively.

由于高速多体船的大幅升沉和俯仰运动会严重影响船舶的航行性能，因此设计有效的多体船体防俯仰控制装置具有重要意义。然而，现有的防倾角控制器都是基于确定性动力学模型设计的，并且具有控制鲁棒性低，对经验的依赖性高，复杂度高和抗倾角性能低的缺点，使得控制器的适用性和有效性可能会严重下降。恶化。在本文中，我们提出了一种鲁棒去耦的反俯仰控制器，该控制器由比例微分（PD）控制项和基于扩展状态观测器（ESO）的不确定性补偿项组成。与相关结果相比，该方法的贡献包括：（1）基于升沉/俯仰运动的随机特性，使用等效噪声带宽理论设计PD控制增益；（2）通过基于ESO的补偿有效地提高了控制鲁棒性。理论分析证明了闭环控制系统的稳定性。通过仿真和实验验证了所提算法的有效性，其中升沉和俯仰分别降低了20-35％和40-50％。