A 4 foils hydrofoiler regulation solution and experiments

Abstract

This paper introduces the Black Pearl, a novel 4-foil electric hydrofoiler, by presenting its design, control structure, and experimental findings. The innovative aspect of our approach lies in the redundant design of the sustentation structure, which utilizes four independent foils to control three degrees of freedom: roll, pitch, and altitude above the water.

This redundancy improves actuation efficiency, significantly reducing the risk of actuation saturation. Moreover, the explicit management of this redundancy ensures robust actuation performance, even in scenarios where one foil becomes locked at a fixed angle.

The paper also presents experimental trials conducted on the Black Pearl prototype, as well as the proposal and simulation testing of novel guidance laws designed to enhance the hydrofoiler’s flight performance.