Adaptive longitudinal motion control with command-filtered compensation for high-speed underwater supercavitating vehicles

In this paper, a command-filtered compensation based adaptive longitudinal motion control scheme of highspeed underwater supercavitating vehicles (USV) is proposed. If the small-angle assumption is not used, the model of longitudinal motion is non-affine nonlinear. In order to design a controller, a novel approximation technique is firstly employed. Then based on a novel model approximation method, using adaptive and command-filtered backstepping techniques, the control law of longitudinal motion of USV is designed. Finally, simulation results are provided to demonstrate the effectiveness of obtained the theoretic results.