Dynamic inversion control based on backstepping for underwater high-speed vehicle

At very high speeds, the surfaces of underwater vehicle are enveloped by cavity entirely or mostly. Due to the existence of interactions between tail of body and cavity wall, supercavitating vehicle model is highly nonlinear. This paper applies dynamic inverse control as control inner-loop, and mathematical model of vehicle longitudinal motion is nonlinear decoupled through using dynamic inverse control. Meanwhile, backstepping is adopted as control out-loop in order to guarantee global stability of the system and the effects of uncertain parameters are attenuated. The simulation studies demonstrate that the control method is feasible for underwater supercavitating vehicle.