By extending a widely cited benchmark model on the pitch-plane dynamics of a supercavitating vehicle, recent literature has proposed new models that include the memory effect in characterizing the interaction of the supercavitating vehicle and the cavity. Based on this time-delay supercavitating vehicle model, this paper develops delay-dependent control designs that explicitly address the cavity memory effect in the supercavitating vehicle dynamics. We first reformulate the pitch-plane dynamics of the supercavitating vehicle as a time-delay Quasi-Linear-Parameter-Varying system, and then develop delay-dependent H∞ controllers. Simulations have been conducted for both initial and tracking responses to evaluate the performance and robustness of the proposed delay-dependent controllers.
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