Dynamic inversion control based on variable structure theory for underwater high-speed vehicle

In high-speed flight, the surfaces of an 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 linearized longitudinal motion model of vehicle exactly through using dynamic inversion control, on the basis of this case, designed variable structure controller for linear system, so as to improve robustness of parameter perturbation and external disturbance. The simulation studies demonstrate that the control method is feasible for underwater high-speed vehicle.