Robust control of time-delay systems with application to a supercavitating vehicle

Xiaofeng Mao, Qian Wang

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

Abstract

Traditional underwater vehicles are limited in speed due to dramatic friction drag on the hull. A supercavitating vehicle exploits supercavitation to induce a gaseous cavity that contains most part of the vehicle and separates the vehicle hull from its surrounding water. Thus friction drag is substantially reduced. A supercavitating underwater vehicle can achieve very high speed, but also poses technical challenges in stability, control, and maneuvering due to various characteristics such as instability in open-loop dynamics, nonlinearity, cavity memory effect, etc. Among the existing literature on the control design for supercavitating vehicles, the cavity memory effect is often neglected to simplify system dynamics. In this paper, we take into account the cavity memory effect and model the supercavitating vehicle as a time-delay Quasi-Linear-Parameter-Varying system. Then a robust controller is designed to handle the switched, time-delay dependent behavior of the vehicle. The uncertainties considered in the presented control design include both parameter and planing force modeling uncertainties.

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages165-172
Number of pages8
EditionPART A
StatePublished - 2009
Event2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States
Duration: Oct 20 2008Oct 22 2008

Publication series

Name2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
NumberPART A

Other

Other2008 ASME Dynamic Systems and Control Conference, DSCC 2008
CountryUnited States
CityAnn Arbor, MI
Period10/20/0810/22/08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Robust control of time-delay systems with application to a supercavitating vehicle'. Together they form a unique fingerprint.

Cite this