The Attitude Tracking Robust Controller for Supercavitating Vehicle Based on Backstepping Method

Abstract

Keywords: Underwater high-speed vehicle; Adaptive algorithm; Stability control; Variable structure control . Abstract. The unique characteristics of the supercavitating vehicles is different from the traditional underwater vehicles. For the supercavitating vehicles with nonlinear time-delay dynamics model which containing unmatched uncertainties, the backstepping attitude tracking controller is designed based on backstepping control, adaptive control and sliding mode control. The uncertain factors were estimated by using the adaptive algorithm, and the robustness of the system with uncertainties and external disturbance was improved by using variable structure control. The simulation results show that the system responds rapidly and it has good stability, which shows that the designed controller can be applied to the stability control of u nderwater high-speed vehicles.