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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...
This paper proposes a new robust motion control algorithm. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is to design a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer...
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