Dynamical analysis and robust control for dive plane of supercavitating vehicles.

Highlights • Dynamical analysis has been provided to describe nonlinear behavior of supercavitating vehicles. • Robust H∞ loop-shaping synthesis with modified PID algorithm is proposed to control the dive plane maneuver of the HSSV. • Multi-objective control problems are solved using BMI optimization of an equivalent Schur formula. • Control scheme has the low order structure and provides robustness against uncertainties. • Integrated robust controller can deal with high parametric uncertainties and suppress exogenous disturbances and sensor noises. Abstract The high-speed supercavitating vehicle (HSSV) utilizes advanced technology that enables an underwater vehicle to reach its unprecedented high speed. The vertical motion control of the HSSV is challenging problem because of its complex dynamics with nonlinear planing force, parametric uncertainties, external disturbances, actuator saturation, and sensor noises. This paper deals with dynamical analysis and a robust H∞ loop-shaping synthesis with modified PID (proportional-integral-derivative) algorithm to control the dive plane maneuver of the HSSV. Typically, the control scheme has the low order structure and provides robustness against dynamic uncertainties, which can be implemented using the bilinear matrix inequality (BMI) optimization of an equivalent Schur formula. Simulation results show that the controlled vehicle system provides good performance and high robustness against uncertainties, ensuring no-overshoot and fast in time-domain responses. In addition, the control algorithm can decouple the dynamic interactions in the multi-input multi-output (MIMO) system, overcoming parametric uncertainty, planing force, and actuator saturation while minimizing the effect of the strong external disturbances and measurement noises. [ABSTRACT FROM AUTHOR]