Anti-pitching control of high-speed multihull based on model predictive static programming
To solve the problem of vertical stability deterioration of high-speed multihulls under wave disturbance,an anti-pitching control method is proposed based on model prediction static programming.Considering the non-linearity,time-varying parameters,and wave disturbance non-Gaussian characteristics of the multi-hull vertical motion model,a smooth variable structure filter based on noise information and error information is designed,and an on-line estimation of heave ve-locity and pitch angular is introduced into the anti-pitching control.On this basis,the anti-pitching control of multihulls is proposed based on the model prediction static programming,and the solution method of terminal deviation correction is ad-opted to iteratively update the control inputs and reduce the computational complexity.Finally,simulation experiments demonstrate the superiority of the proposed method in effectively suppressing excessive heave and pitch motion amplitude,as well as the small computational load of the anti-pitching control.
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