Research on H ∞ -tracking control of supercavitation navigational bodies with actuator failures

Abstract

It is important to ensure stable trajectory tracking control of the supercavitating body, even in the event of actuator failure during the dive process. Firstly, this paper analyses and selects two nonlinear gliding force models proposed by Prof. Dzielski J. It is then shown that the simplified nonlinear gliding force model satisfies the Lipschitz condition. And a mathematical model of the supercavitation body with actuator failures and perturbations is established. Secondly, an adaptive fault observer is then designed to estimate fault information for actuator faults, such as cavitator or rudder, during the dive process. Subsequently, a robust $H_{\infty }$ suboptimal tracking controller is designed for compensatory control. Finally, the simulation results confirm that the $H_{\infty }$ suboptimal tracking controller, combined with the adaptive fault observer, can ensure stable trajectory tracking control of the hyperbubble vehicle during the dive, even when the actuator generates additive and multiplicative faults.