High performance ships have a lot of advantages, but would cause a larger heeling than normal ships when turning in the high-speed. In this paper, we study the design method of joint controller for the hydrofoil catamaran nonlinear course in three degrees of freedom with heeling using Lyapunov's direct method and fuzzy control method. Firstly, according to the turning characteristics, we give a simplified model in three degrees of freedom; Secondly, variable coefficient nonlinear rudder angle control law is d…
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