Adaptive robust controller for supercavitating vehicle using guaranteed cost theory

LvRui, YU Kai-ping, WEI Ying-jie, ZHANG Jia-zhong, WANG Jing-hua

School of Astronautics,Harbin Institute of Technology,Harbin 150001,China



Abstract:

Regarding to the problems that supercavitating vehicles have special characteristics from traditional underwater vehicles,robust control problem was studied in this paper for the supercavitating vehicles with mismatched uncertainties.The nonlinear dynamic model was improved.For mismatched uncertainties,the robust sliding mode function was proposed based on guaranteed cost theory,and sufficient condition for the existence was given in terms of linear matrix inequality (LMI).Continuous sliding mode controller was designed,with an adaptive technology which was used to estimate the unknown upper bound of mismatched uncertainties.Meanwhile,upper bound of parameter uncertainties was not required.Simulation results demonstrated that the system responds rapidly and has good robust stability.Due to application of guaranteed cost theory,the controlled plant is not only stable but also guarantees an adequate level of performance.Therefore,it provides theoretical references for further study on control problems of supercavitating vehicles.

Key words:  supercavitating vehicle  mismatched uncertainties  guaranteed cost control  LMI  adaptive sliding mode control

DOI£º10.11916/j.issn.1005-9113.2011.04.016

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