Adaptive backstepping variable structure control for incomplete-encapsulated supercavitating vehicles

摘要

The supercavitation makes vehicles achieve high speed, but also brings many challenges in system stability, maneuvering, and control, especially in the state of incomplete-encapsulated supercavitation. Therefore, the analysis of the dynamic characteristic and modeling for the incomplete-encapsulated vehicle are carried out. Then a backstepping variable structure controller is designed. Furthermore, we propose an adaptive law for an unknown parameter of the system, and the stability of the system is proved. Finally, simulation results show the effectiveness of the proposed controller for the stabilize sailing and tracking control.