Abstract
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.
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