Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics

Supercavitation technology can greatly improve the speed of underwater vehicles by reducing drag. However, time-delay characteristic a supercavitating vehicle presents control challenge. In this paper, linear parameter-varying (LPV) model for is established analysing characteristics planing force. Moreover, considering that cavitation radius easily perturbed external disturbances, LPV delay depicted as polytope established. Based on model, predictive controller based designed. The solve matrix inequalities (LMI) online to find optimal solution at given moment. addition, introduces different Lyapunov function and multiple free variables reduce system’s conservativeness expand initial feasible region, which performance system. A simulation verifies system exhibits good stability robustness.