Boundary sliding mode controller design for supercavitating vehicles

Abstract

Supercavitating vehicles have special characteristics from traditional underwater vehicles because of supercavitation. Due to the nonlinear planing force, parameter uncertainty behavior of the system, the uncontrolled system is unstable, and the controller design is challenged. Sliding mode controller is anti-interference and robust. To improve the stability of the system, the robust sliding mode controller based on upperlower boundary is designed. Meanwhile, the planing force is estimated as disturbance. The stability of the system is verificated by Lyapunov theory. Simulation result show that the controller is effective and the system is robustness.