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At very high speeds, the surfaces of underwater vehicle are enveloped by cavity entirely or mostly. Due to the existence of interactions between tail of body and cavity wall, supercavitating vehicle model is highly nonlinear. This paper applies dynamic inverse control as control inner-loop, and mathematical model of vehicle longitudinal motion is nonlinear decoupled through using dynamic inverse control...
Aiming at nonlinearity of underwater high-speed vehicle model and the existence of external disturbance, the paper proposes a new way of using active disturbance rejection controller to design vehicle control system. Through making research on nonlinear model of vehicle, extended state observer is applied for observing system nonlinearity, coupling terms and external disturbances, and are compensated...
Controlling of a supercavitating vehicle has been confronted with various challenging problems such as the potential instability of the vehicle, the unsteady nature of cavity dynamics, and the complex and non-linear nature of the interaction between vehicle and cavity. The vehicle model in the dive plane is given. From complex nonlinear model, a multiple inputs and outputs linear system is obtained...
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