Wave Motion Compensation Controller Design for a Catamaran Upper Platform in the Presence of External Disturbance

This paper presents a nonlinear controller for the upper platform of a catamaran in the presence of external time-varying disturbance induced by wind or wave. To handle disturbances, an observer is employed. Designed using the backstepping method, the controller effectively maintains the platform within a small neighborhood of 10
⁻³
(m or rad) of the desired attitude and the observer monitors external disturbance in real time. Simulation results validate the strategy, demonstrating the platform’s ability to consistently maintain an ideal posture in the presence of dynamic disturbance.