Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closed-loop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance.