Backstepping Control Design of Supercavitating Vehicles Based on Cascade Method

Supercavitation vehicle is a multivariable system with non-linear sliding force. In this paper, focus on the stability control of underwater supercavitating vehicle, a backstepping controller is presented for supercavitating vehicles based on cascade method. The nonlinear dynamic model of supercavitating vehicle is established, and the corresponding parameter matrix is given. Aiming at the highly coupled characteristic of a nonlinear mathematical model of supercavitating vehicle, a transformation is introduced to represent the state space model into a cascade form. A backstepping controller is designed, and the stability of backstepping controller is proved by Lyapunov stability principle. The simulation results show that the planing force converges to zero in a very short time, Moreover, the controller has good tracking effect, and the deflection angle is within the allowable range, which verifies the effectiveness of the controlled system.