利用超空泡可以大幅地提高水下航行体的速度，由于在超空泡状态下航行体几乎完全被空泡包裹，超空泡航行体的流体动力和稳定性和以往全沾湿航行体完全不同，同时航行体尾部与空泡壁作用产生的非线性滑行力的出现，这些都对水下超空泡航行体的动力学建模和控制策略提出了很大的挑战。文中分析了超空泡状态下航行体各部分所受的流体动力，提出了航行过程中尾翼效率的计算方法，建立了超空泡航行体非线性动力学模型，设计了非线性切换控制策略。

Supercavitation can be viewed as a phenomenon that could boost the speed of underwater vehicles. The vehicle is entirely surrounded by the cavity while it is traveling underwater in the supercavitation stage. Thus, the vehicle actually travels in air and has very small skin friction drag. Hydrodynamics and stability of the supercavitating vehicle do not depend on the hydrodynamic coefficients as in the case of a fully wetted underwater vehicle. The contact of the aft of the vehicle with the cavity wall get rise to the nonlinear planning force. And it is really hard to control and moneuver a supercavitating vehicle. This paper analysed the hydrodynamic force of all parts of the supercavitating vehicle. The efficiency of fin while it is traveling underwater are computed. The nonlinear dynamics model of supercavitating vehicle is completed. The controller are designed by nonlinear switched control strategy.