Abstract：When a supercavitating vehicle runs in cruise phase, it has different characteristics from usual underwater vehicles, and is acted by the perturbation of the hydrodynamic coefficient and the unknown disturbance on its tail. These problems bring great difficulties for designing stability controller. The mathematical model of supercavitating vehicle was improved, and the global sliding mode function was designed. Upper bound of uncertain factors was estimated by using adaptive arithmetic here, and the variable-structure controller was designed, and mathematical simulation was performed for supercavitating vehicles with the controller. The simulation result demonstrates that the system responds rapidly and has good robust stability.
2011, Vol. 30 
