Vertical movement control for variable vector propeller of submarine based on pitch angle varying

In order to decrease both the weight and the size of submarine, the variable vector propeller (i.e., VVP) has been applied on it. In this paper we will study the vertical movement control for submarine with variable vector propeller. Firstly, we will build the dimension move model of vertical movement of submarine with variable vector propeller and predigest according of need of control system. Secondly, the pitch state of variable vector propeller is given by the rules of pitch matching. Thirdly, considering the characteristic of nonlinearity, time-variation, coupling, stochastic disturb of wave and ocean current, and dubious parameters in vertical movement control system of submarine with variable vector propeller, the fuzzy sliding mode controller is designed for it. The variable universe is introduced in the controller during the design of controller. By applying the variable universe fuzzy sliding mode controller for vertical movement of submarine with VVP, we can decrease the requirement for ε in uncertain system, decreased the buffeting, and hold the performance of control. The formulation consults proved that variable universe fuzzy sliding mode controller can have better adaptive ability for uncertain of parameters than the simple robust PD controller.