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Robust decoupled anti-pitching control of a high-speed multihull

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Abstract

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.

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Abbreviations

PID:

Proportional integral derivative

PD:

Proportional derivative

ESO:

Extended state observer

QFT:

Quantitative feedback theory

CFD:

Computational fluid dynamics

ENB:

Equivalent noise bandwidth

MSE:

Mean square error

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Acknowledgements

This work is financially supported by the National Natural Science Foundation of China (No. 51379044, 62073156), and the Priority Academic Program Development of Jiangsu Higher Education Institutions (No. PAPD-2018-87).

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Authors and Affiliations

  1. Electrical and Information Engineering College, Jiangsu University, Zhenjiang, 212013, China

    Jun Zhang & Xiaokang Dai

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

    Zhilin Liu & Guosheng Li

Authors
  1. Jun Zhang
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  2. Zhilin Liu
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  3. Xiaokang Dai
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  4. Guosheng Li
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Correspondence to Zhilin Liu.

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Zhang, J., Liu, Z., Dai, X. et al. Robust decoupled anti-pitching control of a high-speed multihull. J Mar Sci Technol 26, 1112–1125 (2021). https://doi.org/10.1007/s00773-020-00791-w

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  • DOI: https://doi.org/10.1007/s00773-020-00791-w

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