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Longitudinal Motion Control of a High-Speed Supercavitation Vehicle

József Bokor

Gary J. Balas

Aerospace Engineering and Mechanics, 110 Union St. SE, University of Minnesota, Minneapolis, MN 55455, USA vanek{at}aem.umn.edu

Roger E.A. Arndt

Civil Engineering and St. Anthony Falls Laboratory, 2 Third Ave. SE, University of Minnesota, Minneapolis, MN 55414, USA

This article focuses on theoretical developments in modeling and control of High-Speed Supercavitating Vehicles (HSSV). A simplified model of longitudinal dynamics is developed for control, and a dynamic inversion based inner-loop control technique is proposed to handle the switched, time-delay dependent behavior of the vehicle. Two outer-loop control schemes are compared for guidance level tracking. Various aspects of disturbance characteristics and actuator dynamics are investigated and analyzed.

Key Words: Supercavitation • dynamic inversion • bimodal systems • receding horizon control

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