Hydrofoil catamaran longitudinal motion robust gain scheduling control study

Hydrofoil catamaran sailing at high speed, non-linear movement of the longitudinal movement in its longitudinal movement of the interference of the waves is very intense. In order to improve the performance of airworthiness hydrofoil catamaran, by turning the control flaps provide reduced longitudinal movement of forces and torques required. Established by hydrofoil catamaran vertical linear state-space equations of motion, and then derive robust control law systems containing uncertainties, get control laws in different states point. Use gain scheduling theory, fuzzy control rules based on the controller weights for planning, get nonlinear robust controller so that the controller in different Speed still remains a good control effect. Simulation results show that the control method in this paper can be achieved on a hydrofoil catamaran in the longitudinal movement of the entire work domain control.