Robust Control of Underwater Supercavitating Vehicles Based on Pole Assignment

Underwater supercavitating vehicles are characterized by drag is localized at the nose of the vehicle where a cavitator generates a cavity that completely envelops the body. Section 2 establishes and analyzes both the kinematic and fixed-depth models using a joint control method for cavitator and tail control surfaces. Section 3 synthesizes the control law based on robust pole assignment approach as shown in eq. (28) so as to ensure the stability of the system. To verify the control law, section 4 carries out related simulation for the control system. The emulational results, shown in Fig. 7 and 8, and their analysis in section 4 indicate preliminarily that the control law can improve the dynamic stability and control quality of underwater supercavitating vehicles. The study provides a necessary theoretical basis for further study of the dynamic control problem for underwater high speed vehicles.