Research on ADRC algorithm for longitudinal attitude of hydrofoil craft based on improved convergence law

Abstract

When a hydrofoil sails at high speed, the wave force and moment become critical factors causing instability. The longitudinal motion of the hydrofoil exhibits strong coupling and parameter uncertainty. To ensure stable sailing, a multivariate decoupling control method is proposed for the longitudinal motion of the hydrofoil. This method involves real-time estimation of the total effect of wave disturbance force and internal perturbations using a state observer, compensation for disturbances in the control loop, and the utilization of improved sliding-mode control instead of nonlinear feedback control to achieve the stabilization of the hydrofoil’s longitudinal motion. In this paper, the proposed method is simulated and analyzed using the PCH-1 boat as a model under different wave disturbance environments. The results indicate that, in comparison with active disturbance rejection control (ADRC), the heave displacement and pitch angle of the active disturbance rejection sliding mode control with improved reaching law (ADRC-ISMC) are reduced by approximately 30%–50%. This improvement is significant compared to H-∞ control and results in faster stress response. The method effectively mitigates the effect of longitudinal motion on the hydrofoil, demonstrating its effectiveness and superiority.