Nonlinear Longitudinal Attitude Control of an Unmanned Seaplane with Wave Filtering

A new longitudinal attitude control system design for an unmanned seaplane in the severe sea states is presented in this paper.We develop a nonlinear passive observer,which is used to achieve wave filtering and state estimation.Moreover,the observer can be extended to achieve adaptive wave filtering in varying sea states.Using the estimated low-frequency states,a backstepping sliding mode controller is designed to keep the longitudinal attitude of the unmanned seaplane stable.The stability of the total closed loop system is analyzed by using Lyapunov theory.Simulations are performed in different wave conditions,including Seastate 3 and Seastate 5.The simulations results show that the proposed longitudinal attitude controller can improve the anti-waves capability effectively.Moreover,adaptive wave filter has a significant advantage over a filter with fixed model parameters in varying sea states.