Title: Planing avoidance H∞ design for supercavitating vehicles

Authors: Ai Ping Pang; Zhen He; Ming Lei Liu; Qin Mu Wu; Jing Yang

Addresses: School of Electrical Engineering, Guizhou University, Guiyang 550025, China ' School of Astronautics, Harbin Institute of Technology, Harbin 150001, China ' School of Electrical Engineering, Guizhou University, Guiyang 550025, China ' School of Electrical Engineering, Guizhou University, Guiyang 550025, China ' School of Electrical Engineering, Guizhou University, Guiyang 550025, China

Abstract: For the planing forces generated when the underwater high speed vehicle's aft end pierces the bubble which lead to oscillatory motion, planing avoidance control was designed based on observer and compensation in this paper. The effect of this compensation is related to the performance of the controller, hence we consider controllers designed via the H∞ feedback control. In the paper, the H∞ performance requirement which lead to the weight selection problem is analysed also. Through the design of the weighted matrix, the H∞ controller that satisfies various performance requirements is obtained. Simulation results show that this H∞ state feedback controller with the compensating observer can avoid the planing force generated. This method of H∞ weighting coefficients and the compensation method of the disturbance observer can also be a reference for other system design as well.

Keywords: supercavitating vehicles; planing avoidance; H∞ control; disturbance observer; compensation.

DOI: 10.1504/IJMIC.2019.102364

International Journal of Modelling, Identification and Control, 2019 Vol.32 No.2, pp.105 - 113

Received: 05 Oct 2018
Accepted: 20 Dec 2018
Published online: 23 Sep 2019 *

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