A Cascade Approach for Stability Control of Supercavitating Vehicle

Zhao, Xinhua; Zhou, Shanshan; Wang, Xue; Jing, Litao

doi:10.1109/ieeeconf38699.2020.9389142

Global Oceans 2020: Singapore – U.S. Gulf Coast 2020

DOI: 10.1109/ieeeconf38699.2020.9389142

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A Cascade Approach for Stability Control of Supercavitating Vehicle

Xinhua Zhao

Shanshan Zhou²,

Xue Wang

et al.

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2023

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Research on Lateral Maneuverability of a Supercavitating Vehicle Based on RBFNN Adaptive Sliding Mode Control with Rolling Restriction and Planing Force Avoidance

Yang,

Lu,

2023

Machines

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This paper addresses the lateral motion control of a supercavitating vehicle and studies its ability to maneuver. According to the unique hydrodynamic characteristics of the supercavitating vehicle, highly coupled nonlinear 6-degree-of-freedom (DOF) dynamic and kinematic models are constructed considering time-delay effects. A control scheme utilizing radial basis function (RBF) neural-network-(NN)-based adaptive sliding with planing force avoidance is proposed to simultaneously control the longitudinal stability and lateral motion of the supercavitating vehicle in the presence of external ocean-induced disturbances. The online estimation of nonlinear disturbances is conducted in real time by the designed NN and compensated for the dynamic control laws. The adaptive laws of the NN weights and control parameters are introduced to improve the performance of the NN. The least squares method is utilized to solve the actuator control efforts with rolling restriction in real-time online. Rigorous theoretical proofs based on the Lyapunov theory prove the globally asymptotic stability of the proposed controller. Finally, numerical simulations were performed to obtain maximum maneuverability and verify the effectiveness and robustness of the proposed control scheme.

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Research on Lateral Maneuverability of a Supercavitating Vehicle Based on RBFNN Adaptive Sliding Mode Control with Rolling Restriction and Planing Force Avoidance

Yang,

Lu,

2023

Machines

View full text Add to dashboard Cite

show abstract

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A Cascade Approach for Stability Control of Supercavitating Vehicle

Cited by 1 publication

References 14 publications

Research on Lateral Maneuverability of a Supercavitating Vehicle Based on RBFNN Adaptive Sliding Mode Control with Rolling Restriction and Planing Force Avoidance

Research on Lateral Maneuverability of a Supercavitating Vehicle Based on RBFNN Adaptive Sliding Mode Control with Rolling Restriction and Planing Force Avoidance

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