Parameter-dependent robust anti-saturation control of supercavitating vehicle with time-delay characteristics.

Aiming at the time-delay characteristics and nonlinear planing force of supercavitating vehicles in the process of motion, a parameter-dependent robust controller with anti-saturation compensator is proposed. First, the system model with nonlinear planing force is transformed into a parameter dependent linear-parameter-varying model containing time-delay part and non-time-delay part. Then consider the external disturbance input to design a robust controller and use convex polyhedron theory and the parameter dependence characteristics of controller to ensure the stability of the system with cavitation radius perturbation. Finally, the anti-saturation compensation method is used to overcome the input constraints caused by the physical limitations of the control mechanism. The simulation results show that the controller has good control effect and robust performance for supercavitating vehicles with time-delay characteristics. [ABSTRACT FROM AUTHOR]