The Longitudinal Attitude Control of the Fully-Submerged Hydrofoil Craft with Actuator Saturation

In order to guarantee the stabilization and performance of FSHC in the presence of actuator saturation and external disturbances, an anti-windup adaptive global terminal sliding mode control strategy is designed in this paper. Firstly, a radial basis neural network is utilized for the estimation of the upper bound of the uncertainties. The influence of system uncertainty on the robustness of the control system is suppressed. Then, a saturation compensator is designed based on control deviation and the system model of the FSHC. Furthermore, an adaptive global terminal sliding mode controller is designed according to the estimation of the neural network and actuator compensator. The saturation compensation is realized in the controller design through the feedback channel. The robustness of external disturbances and system uncertainties and the stability of the FSHC in the presence of actuator saturation is guaranteed.