Design of Particle Swarm Optimization Adaptive Sliding Mode Controller Based on an Extended State Observer for the Longitudinal Motion of a Supercavitating Vehicle with Input Saturation

The aim of this paper is to present a novel sliding mode control scheme for the supercavitating vehicle trajectory tracking problem that subjects external disturbances and actuator saturation with two symmetric elevators cavitator as actuators by analytical methods computer simulations. Firstly, nonlinear highly coupled dynamic kinematic models are presented in comprehensive way taking cavity memory effect time-variant planing force into consideration. PSO algorithm employed optimize parameters achieving better more practical performance minimizing objective function. A second-order extended state observer (ESO) utilized estimate unknown state-dependent compensates inputs. In addition, an antiwindup compensator adopted cope saturation. Finally, proposed complex under various conditions conducting comparative numerical Rigorous theoretical analysis simulation results indicate can achieve satisfactory have good capability robustness.