Nonlinear robust control design for a supercavitating vehicle

X. Mao, Qian Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Supercavitating vehicles can achieve very high speed but also pose technical challenges in maneuvering, system stability and control. Compared to a fully-wetted vehicle for which substantial lift is generated due to vortex shedding off the hull, the supercavitating vehicles are enveloped by gas surface thus the lift is provided by control surface deflections of cavitator and fins, as well as planing force between the vehicle and the cavity. The nonlinearity in the modeling of cavitator, fin, and in particular, the planing force make the control design more challenging. In this paper, a sliding-mode based controller is designed for the longitudinal dynamics of a supercavitating vehicle model. The stability and robustness of the final design are analyzed by the Lyapunov method and verified using simulation. A high-gain observer is also designed to estimate the vertical velocity of the supercavitating vehicle, which is not directly measurable, and then simulation results are presented for the (partial) output-feedback sliding-mode controller.

Original languageEnglish (US)
Title of host publicationProceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)0791837904, 9780791837900
DOIs
StatePublished - Jan 1 2006
Event2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Chicago, IL, United States
Duration: Nov 5 2006Nov 10 2006

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
ISSN (Print)1071-6947

Other

Other2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006
CountryUnited States
CityChicago, IL
Period11/5/0611/10/06

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software

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    Mao, X., & Wang, Q. (2006). Nonlinear robust control design for a supercavitating vehicle. In Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2006-14519