摘要：Taking the uncertainty of SWATH longitudinal motion control system into account, the parameter uncertainty model of SWATH was built, and the -synthesis controller was designed to improve the longitudinal motion performance of SWATH. Then Matlab was utilized to simulate the controlled as well as uncontrolled longitudinal performance of SWATH. According to the simulation result, under different sailing conditions, the longitudinal motion performance of SWATH is still excellent. Therefore, the parameter uncertainty mathematical model built in this paper as well as the designed -synthesis controller are effective and applicable to improve the longitudinal motion performance and the robust performance of SWATH, providing the theoretical basis for the research on SWATH with high performance.
关键词：SWATH; -synthesis controller; longitudinal motion; fin stabilizer
