Fuzzy/ neuro-fuzzy depth and pitch regulating control of a supercavitating vehicle

Increasing velocity of a typical underwater vehicle by modifying regular propulsion systems is constrained. A recently used approach for increasing velocity in underwater is using the suprcavition effect. In supercavition vehicles, by developing a cavity around the vehicle, the drag of the vehicle is significantly reduced. Consequently, the vehicle velocity is increased significantly. However, this high velocity causes more difficult vehicle conditions for vehicle stabilization and control. In this paper, a control system is introduced for pitch angle and depth control of a supercavitating vehicle through fins and cavitator. Controller consists of two separate fuzzy PD and two separate neuro-fuzzy parts with mamdani and sugeno laws, respectively. Simulations show the proposed control system can effectively control vehicle pitch angle and depth increment, hence, prevent the vehicle exiting from water and keeping it in the desired depth. As the best authors´ knowledge, the proposed control approach is the first intelligent supercavitating vehicle control one.