Design of adaptive sliding mode controller for longitudinal motion of hydrofoil

Abstract

this paper basing on hydrofoils longitudinal motion of nonlinear mathematical model, take attitude stabilization as target and design a controller for hydrofoil longitudinal motion attitude based on the idea of backstepping. To verify the results of the controller, do the simulation by using the matlab and get the result. Then get the results of backstepping controller in the situation of certain interference by simulation and analyse the result, Concluding that the designed controller based on backstepping can effectively control the hydrofoil heave displacement and pitch angle. And adaptive sliding mode controller based on backstepping can effectively counteract the effects of interference, hydrofoils heave displacement and pitching angle being significantly improved after adding the controller. Compared with the situation of no controller, the maximum of longitudinal attitude respectively decreased by 76% and 90%.