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

    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

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  • Cite this

    Mao, X., & Wang, Q. (2009). Robust control of time-delay systems with application to a supercavitating vehicle. In 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008 (PART A ed., pp. 165-172)