Abstract
The control synthesis of the high-speed underwater vehicle faces many technical challenges due to its inherent structure and surrounding operational environment. In this paper, the dynamical behavior is firstly described through a bifurcation analysis to give some insights for robust control synthesis. Then a novel adaptive fractional-order sliding mode controller (AFOSMC) is realized to effectively manipulate the supercavitating vehicle against payload changes, nonlinear planing force, and external disturbances. The fractional order (FO) calculus can offer more flexibility and more freedom for tuning active control synthesis than the integer-order counterpart. In addition, the adaptation law has been presented to directly handle the payload change effects. The stability of the controlled vehicle system is proven via Lyapunov stability theory. Next, the dynamic performance of the proposed controller is verified through extensive simulation results, which demonstrate the control accuracy with faster responses compared with existing integer-order controllers. Finally, the proposed fractional order controllers can provide higher performance than their integer order counterparts with control algorithms.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Anukul, G., 2005. Robust Control of Supercavitating Vehicles in the Presence of Dynamic and Uncertain Cavity, Ph.D. Thesis, University of Florida, Gainesville, FL.
Dzielski, J. and Kurdila, A., 2003. A benchmark control problem for supercavitating vehicles and an initial investigation of solutions, Journal of Vibration and Control, 9(7), 791–804.
Fan, H., Zhang, Y.W. and Wang, X.N., 2011. Longitudinal dynamics modeling and MPC strategy for high-speed supercavitating vehicles, Proceedings of 2011 International Conference on Electric Information and Control Engineering, IEEE, Wuhan, China, pp. 5947–5950.
Fan, J.L., Zhao, G.L. and Zhao, X.H., 2010. Adaptive sliding mode control of supercavitating vehicles, Journal of Huazhong University of Science and Technology (Nature Science), 38(1), 109–113. (in Chinese)
Han, Y.T., Bi, X.J. and Bai, T., 2010. Dynamic inversion control based on backstep** for underwater high-speed vehicle, Proceedings of the 2010 8th World Congress on Intelligent Control and Automation (WCICA), IEEE, **an, China, pp. 3868–3871.
Han, Y.T. and Geng, R.G., 2012. Active disturbance rejection control of underwater high-speed vehicle, Proceeding of the 2012 IEEE International Conference on Automation and Logistics, IEEE Zhengzhou, China, pp. 550–553.
Jafarian, A. and Pishevar, A., 2016. Numerical simulation of steady supercavitating flows, Journal of Applied Fluid Mechanics, 9(6), 2981–2992.
Kirschner, I.N., Kring, D.C., Stokes, A.W., Fine, N.E. and Uhlman, J.S., 2002. Control strategies for supercavitating vehicles, Journal of Vibration and Control, 8(2), 219–242.
Kulkarni, S.S. and Pratap, R., 2000. Studies on the dynamics of a supercavitating projectile, Applied Mathematical Modelling, 24(2), 113–129.
Lin, G.J., Balachandran, B. and Abed, E., 2006. Nonlinear dynamics and control of supercavitating bodies, Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA, Keystone, Colorado, USA, pp. 3151–3164.
Lin, G.J., Balachandran, B. and Abed, E.H., 2008. Dynamics and control of supercavitating vehicles, Journal of Dynamic Systems, Meassurement, and Control, 130(2), 021003.
Lv, R., Wei, Y.J., Zhang, J.Z., Yu, K.P. and Wang J.H., 2011. Sliding mode control of supercavitating vehicles in the vertical plane using guaranteed cost theory, High Technology Letter, 17(2), 186–190.
Lv, R., Yu, K.P., Wei, Y.J., Zhang, J.Z. and Wang, J.H., 2010. Adaptive sliding mode controller design for a supercavitating vehicle, Proceedings of the 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, IEEE, Harbin, China, pp. 885–889.
Mao, X.F. and Wang Q., 2009. Nonlinear control design for a supercavitating vehicle, IEEE Transactions on Control Systems Technology, 17(4), 816–832.
Mao, X.F. and Wang, Q., 2015. Adaptive control design for a supercavitating vehicle model based on fin force parameter estimation, Journal of Vibration and Control, 21(6), 1220–1233.
May, A. 1975. Water Entry and the Cavity-Running Behavior of Mis- siles, NAVSEA Hydroballistics Advisory Committee, Silver Spring, MD, USA, pp. 75–82.
Oustaloup, A., Levron, F., Mathieu, B. and Nanot, F.M., 2000b. Frequency-band complex noninteger differentiator: characterization and synthesis, IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 47(1), 5–39.
Oustaloup, A., Melchior, P., Lanusse, P., Cois, O. and Dancla, F., 2000a. The CRONE toolbox for Matlab, CACSD Conference Proceedings IEEE International Symposium on Computer-Aided Control System Design, IEEE, Anchorage, AK, USA, pp. 190–195.
Phuc, B.D.H., Lee, S.D., You, S.S. and Rathore, N.S., 2020. Nonlinear robust control of high-speed supercavitating vehicle in the vertical plane, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 234(2), 510–519.
Phuc, B.D.H., You, S.S., Rathore, N.S. and Kim, H.S., 2019. Dynamical analysis and robust control for dive plane of supercavitating vehicles, Applied Ocean Research, 84, 259–267.
Podlubny, I., 1999. Fractional-order systems and PIλDμ-controllers, IEEE Transactions on Automatic Control, 44(1), 208–214.
Podlubny, I., Dorcák, L. and Kostial, I., 1997. On fractional derivatives, fractional-order dynamic systems and PIλDμ-controllers, Proceedings of the 36th IEEE Conference on Decision and Control, IEEE, San Diego, CA, USA, pp. 4985–4990.
Rand, R., Pratap, R., Ramani, D., Cipolla, J. and Kirschner, I., 1997. Impact dynamics of a supercavitating underwater projectile, Proceedings of the 1997 ASME Design Engineering Technical Conferences, 16th Biennial Conference on Mechanical Vibration and Noise, Sacramento, CA, USA, pp. 1–11.
Utkin, V.I., 2008. Sliding mode control: Mathematical tools, design and applications, Nonlinear and Optimal Control Theory, 289–347.
Vanek, B., Balas, G.J. and Arndt, R.E.A., 2010. Linear, parametervarying control of a supercavitating vehicle, Control Engineering Practice, 18(9), 1003–1012.
Vanek, B., Bokor, J., Balas, G.J. and Arndt, G.E.A., 2007. Longitudinal motion control of a high-speed supercavitation vehicle, Journal of Vibration and Control, 13(2), 159–184.
Xue, D.Y. and Chen, Y.Q., 2002. A comparative introduction of four fractional order controllers, Proceedings of the 4th World Congress on Intelligent Control and Automation, IEEE, Shanghai, China, pp. 3228–3235.
You, S.S., Choi, H.S., Kim, H.S. and Park, H.I., 2011. Autopilot control synthesis for path tracking maneuvers of underwater vehicles, China Ocean Engineering, 25(2), 237–249.
Zhao, L., Wang, P., Sun, C.Y. and Song, B.W., 2019. Modeling and motion simulation for a flying-wing underwater glider with a symmetrical airfoil, China Ocean Engineering, 33(3), 322–332.
Zhao, X.H., Duan, G.R. and Sun, Y., 2011. Complex control system design for time delay supercavitating vehicle, Engineering Mechanics, 28(9), 234–239. (in Chinese)
Zhao, X.H., Sun, Y., Zhao, G.L. and Fan, J.L., 2014. μ-synthesis robust controller design for the supercavitating vehicle based on the BTT strategy, Ocean Engineering, 88, 280–288.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Phuc, B.D.H., You, SS., Doan, P.T. et al. Adaptive Controller Design for Dynamic Maneuvers of High Speed Underwater Vehicles. China Ocean Eng 36, 311–321 (2022). https://doi.org/10.1007/s13344-022-0027-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13344-022-0027-6