Planing avoidance H design for supercavitating vehicles

For the planing forces generated when the underwater high speed vehicle's aft end pierces the bubble which lead to oscillatory motion, planing avoidance control was designed based on observer and compensation in this paper. The effect of this compensation is related to the performance of the controller, hence we consider controllers designed via the H∞ feedback control. In the paper, the H∞ performance requirement which lead to the weight selection problem is analysed also. Through the design of the weighted matrix, the H∞ controller that satisfies various performance requirements is obtained. Simulation results show that this H∞ state feedback controller with the compensating observer can avoid the planing force generated. This method of H∞ weighting coefficients and the compensation method of the disturbance observer can also be a reference for other system design as well.