Design of adaptive variable-structure controller for a supercavitating vehicle

Regarding the problem of supercavitating vehicles being affected by the perturbation of the hydrodynamic coefficient and an unknown disturbance on its tail, the mathematical model of a supercavitating vehicle was improved, and uncertain factors were estimated using adaptive an algorithm. Based on the improved exponent approaching law, a variable-structure controller was designed, and mathematical simulation was performed for supercavitating vehicles with the new controller. The simulation result demonstrates that the controller has good performance during stability control, adjusting time is less than 1 second, and the steady-state error is less than 1%, all of which show that the control law can be applied to the control of a supercavitating vehicle.