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DOI: 10.1177/1077546307070226 Longitudinal Motion Control of a High-Speed Supercavitation Vehicle
Aerospace Engineering and Mechanics, 110 Union St. SE, University of Minnesota, Minneapolis, MN 55455, USA vanek{at}aem.umn.edu
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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