Variable structure control research on supercavitating vehicle based on thrust vector/rudder combination

To study the cruise phase stability control of Underwater Supercavitating Vehicle(USV),the control was adopted for pitch, yaw and roll channels of USV. Starting from the particularity of the dynamic of USV, we propose a compound control strategy with thrust vector and water rudder with instruction for each channel. On this basis, the mathematical model for control system design is derived. We apply the variable structure control theory to designing the controller, and then do a simulation. The simulation results and their analysis preliminarily demonstrate that the parameters of sail track and attitude can both meet the design demands for speed, stability and robustness.