Research on longitudinal attitude control of unmanned hydrofoil vehicles based on AKF

DOI:	10.11809/bqzbgcxb2023.02.017
Keywords:	unmanned hydrofoil vehicle; longitudinal attitude control; LQR; wave interference; adaptive Kalman filter (AKF)
Abstract:	An unmanned hydrofoil vehicle is disturbed by sea waves during operation, which deteriorates its attitude control effect. However, noise matrix of the traditional Kalman filter (KF) process is a fixed value, and the filtering effect is not ideal under complex sea conditions. Firstly, to solve the above problems, based on an unmanned hydrofoil vehicle, a mathematical model of its longitudinal motion is established, and an LQR controller with a longitudinal attitude is designed. Then, an adaptive Kalman filter (AKF) based on the new Chi square test is designed to adaptively adjust the process noise matrix, and the AKF is used to optimally estimate the feedback state of the system. The simulation results show that the longitudinal attitude controller based on AKF can effectively suppress the interference of waves and make the unmanned hydrofoil vehicle run smoothly in waves.
Published:	2023-02-28
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