Variable Structure Control of a Catastrophic Course in a High-Speed Underwater Vehicle Launched out of the Water

Abstract

A variable structure controller is designed for a high-speed underwater vehicle on a catastrophic course using a mathematical model. This sudden change at the moment when a high-speed underwater vehicle launches out of the water seriously affects the stability and the control accuracy of the high-speed underwater vehicle. The nonlinear system is linearised via input-output feedback linearisation using differential geometry theory. The attitude tracking controller is designed for a closed loop using the exponentially approaching rule of variable structure theory. The simulation results show that the control system can be applied to a catastrophic course in a high-speed underwater vehicle launched underwater and out of the water. The results also show great robustness against all admissible uncertainties for system parameter perturbation.