Control of supercavitating vehicles using adaptive integral sliding mode

Controlling of a supercavitating vehicle has been confronted with various challenging problems such as the potential instability of the vehicle, the unsteady nature of cavity dynamics, and the complex and non-linear nature of the interaction between vehicle and cavity. The vehicle model in the dive plane is given. From complex nonlinear model, a multiple inputs and outputs linear system is obtained by the technology of nonlinear state feedback and feed-forward compensation. Considering the position change of vehicle´s mass centre and the uncertainty of hydrodynamic coefficients, along with the perturbation from un-modelled dynamics, an integral sliding mode controller is designed. A norm adaptation law is used to estimate the upper bounds norm of disturbances, the stability of system is proved by Lyapvnov stability theorem. The results of simulation show the effectiveness of the controller designed in the paper.