Robust saturated dynamic surface controller design for underactuated fast surface vessels including actuator dynamics

An experimental study of the vertical stabilization control of a trimaran using an actively controlled T-foil and flap

A novel path following approach for autonomous ships based on fast marching method and deep reinforcement learning

Numerical investigation of T-Foil hybrid control strategy for ship motion reduction in head seas

Reinforcement learning-based close formation control for underactuated surface vehicle with prescribed performance and time-varying state constraints

Event-based adaptive horizon nonlinear model predictive control for trajectory tracking of marine surface vessel

The vertical movement of a trimaran caused by external disturbances during sailing, may lead to seasickness of the passengers and damage of the equipment onboard. Based on computational fluid dynamics (CFD) calculations, the hydrodynamic coefficients are obtained and a mathematical model of the trimaran is established, and with experiments of trimaran sailing in water tanks, the hydrodynamic coefficients solved by CFD are verified. Then, the T-foil and flap are designed, and the lift force and moment are solved by CFD. Next, the slope of the force of different attack angles on the T-foil and flap is obtained by the polynomial fitting. Finally, the trimaran vertical stabilization proportion and derivative (PD) controller, based on the sigmoid function, is designed with a new method of the resultant force and moment for a dynamic decoupling T-foil and flap. Through the simulation of trimaran movements systems with active T-foil and flap, the PD parameters are obtained. Then, the effect of the controller on trimaran vertical stabilization is verified by the experiments in the water tanks.

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Vertical Stabilization Control for Trimaran Based on Resultant Force and Moment Distribution

It is common that underactuated surface vessels sailing on the sea suffer from strong external sea disturbances, such that the large roll motion can be probably caused resulting to the bad performa...

https://journals.sagepub.com/doi/pdf/10.1177/1729881420920039

Linhe Zheng

Papers

An experimental study of the vertical stabilization control of a trimaran using an actively controlled T-foil and flap

Event-based adaptive horizon nonlinear model predictive control for trajectory tracking of marine surface vessel

Vertical Stabilization Control for Trimaran Based on Resultant Force and Moment Distribution

Path following for underactuated surface vessels with disturbance compensating predictive control

Optimal design and installation of appendages for improving stability performance of a trimaran