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The supercavitation makes vehicles achieve high speed, but also brings many challenges in system stability, maneuvering, and control, especially in the state of incomplete-encapsulated supercavitation. Therefore, the analysis of the dynamic characteristic and modeling for the incomplete-encapsulated vehicle are carried out. Then a backstepping variable structure controller is designed. Furthermore,...
For the terminal phase of AUV impact the non-stationary targets, the terminal guidance problem is studied. Based on backstepping sliding mode control method and linear extended state observer, a nonlinear guidance law with impact angle constraints is proposed. Regarding the target acceleration and external disturbance as unknown disturbance, and using the linear extended state observer to estimate...
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