Research on Lateral Maneuverability of a Supercavitating Vehicle Based on RBFNN Adaptive Sliding Mode Control with Rolling Restriction and Planing Force Avoidance

This paper addresses the lateral motion control of a supercavitating vehicle and studies its ability to maneuver. According to the unique hydrodynamic characteristics of the supercavitating vehicle, highly coupled nonlinear 6-degree-of-freedom (DOF) dynamic and kinematic models are constructed considering time-delay effects. A control scheme utilizing radial basis function (RBF) neural-network-(NN)-based adaptive sliding with planing force avoidance is proposed to simultaneously control the longitudinal stability and lateral motion of the supercavitating vehicle in the presence of external ocean-induced disturbances. The online estimation of nonlinear disturbances is conducted in real time by the designed NN and compensated for the dynamic control laws. The adaptive laws of the NN weights and control parameters are introduced to improve the performance of the NN. The least squares method is utilized to solve the actuator control efforts with rolling restriction in real-time online. Rigorous theoretical proofs based on the Lyapunov theory prove the globally asymptotic stability of the proposed controller. Finally, numerical simulations were performed to obtain maximum maneuverability and verify the effectiveness and robustness of the proposed control scheme.

Automated summary

This paper proposes a control scheme for the lateral motion control of a supercavitating vehicle, taking into account its unique hydrodynamic characteristics and time-delay effects. The control scheme, based on neural networks and adaptive sliding control, aims to control the longitudinal stability and lateral motion of the vehicle in the presence of external disturbances. The proposed scheme includes online estimation of nonlinear disturbances, adaptive adjustment of neural network weights and control parameters, and real-time solution of actuator control efforts. Rigorous theoretical proofs based on the Lyapunov theory demonstrate the globally asymptotic stability of the proposed controller. Numerical simulations validate the effectiveness and robustness of the proposed control scheme.