Pitch Control Design for Tandem Lifting Body Catamaran by Aft Lifting Body Actuation

Abstract

We design an adaptive controller to stabilize the pitch of the tandem lifting body catamaran with actuation of the aft lifting body for the case where the hydrodynamic and other parameters are not known a priori. We consider two scenarios: 1) we assume the pitch and the pitch rate to be available for feedback and 2) we use only the pitch rate and the pitch acceleration in the adaptive control design. Our designs are based on three steps: 1) parametrization of the unknown sinusoidal wave disturbance as the output of a known feedback system with an unknown output vector that depends on unknown disturbance parameters; 2) design of an adaptive disturbance observer for the wave disturbance; and 3) design of an adaptive controller. We demonstrate the effect of our control designs in simulations, using a time-domain seakeeping code, named AEGIR.

Cancellation of unmatched biased sinusoidal disturbances for unknown LTI systems in the presence of state delay

“…The problem of canceling sinusoidal disturbances in dynamical systems is a fundamental control problem, with many applications such as suspension systems (Basturk, 2016;Landau, Constantinescu, & Rey, 2005) active noise control (Bodson, Jensen, & Douglas, 2001), marine vehicles (Basturk & Krstic, 2013b;Basturk, Rosenthal, & Krstic, 2013;Marconi, Isidori, & Serrani, 2002) and hard drives (Chen & Tomizuka, 2012). The common method to approach this problem is the internal model principle for which a general solution is given in Francis and Wonham (1975) and Johnson (1971) in the case of linear systems.…”

Active Unmatched Disturbance Cancellation and Estimation by State--Derivative Feedback for Plants Modeled as an LTI System

“…Proof. Using the fact that N A n = 0 from (3), (4) and 24, the equation 26is obtained by differentiating (25) and using derivative of (1), (11) and (21). Substitution of (25) into (12) and 14yields (19) and 20, respectively.…”

“…Active disturbance cancellation arises in many applications such as automotive [1] and marine systems [2][3][4]. The internal model principle which relies on modeling the disturbance as the output of an exosystem and duplicating its effect to the input channel, is the one of the most popular technique for the solution [5,6].…”

Experimental and numerical investigation on control strategies for heave and pitch motion reduction of a catamaran

“…Aranda et al 35 developed a robust multivariable controller to decrease motion sickness incidence and compared its effectiveness with that of a proportional-derivative (PD) controller. Basturk et al 36 designed an adaptive controller and applied it to an uncoupled pitch dynamic model to stabilize the pitch motion of a catamaran. The above results indicate that the proportional-integral-derivative (PID) controller is widely used in actual engineering applications and experiments, and advanced control algorithms are usually tested in simulations.…”