Dynamical analysis and robust control for dive plane of supercavitating vehicles

BDH Phuc, SS You, NS Rathore, HS Kim - Applied Ocean Research, 2019 - Elsevier
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 …
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