Abstract
Hydrofoil longitudinal control has been made by mode selection between platforming and contouring. In addition, the height control has been made by wave observation by human operators. To exclude this human operation, the unified automatic control system(Unified ACS) consists of optimal servo system and prediction of waves was proposed. First, the wave elevation and significant wave height were estimated by using sensor signals and Kaiman filter, and the wave elevation was predicted by Kaiman filter. And also optimal servo system(OSS) was designed to contour waves. Finally, the Unified ACS was achieved by using the predicted wave elevation and using modification of the reference input according to estimated significant wave height in ACS. The validity of the Unified ACS was confirmed through simulation.
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