TY - GEN
T1 - Planing avoidance control for supercavitating vehicles
AU - Escobar Sanabria, David
AU - Balas, Gary J.
AU - Arndt, Roger E.A.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Underwater vehicles traveling inside a bubble or supercavity enable the reduction of drag and increase of speed; however, planing forces generated when the vehicle aft end pierces the bubble can lead to oscillatory motion and instability. In this paper, a framework for the synthesis of planing avoidance controllers is presented and the trade-off between tracking performance and planing avoidance is investigated. We propose mathematical models of the supercavity and planing forces, based on experimental data, that are used to construct a nonlinear model of the vehicle dynamics and a simplified version suitable for analysis and controller synthesis. A planing metric, based on the simplified vehicle dynamics, is used within the controller synthesis to avoid planing. Simulations of vehicle maneuvers demonstrate that including planing avoidance as a control objective, reduces planing and increases the bounds of tracking commands for which the vehicle remains stable.
AB - Underwater vehicles traveling inside a bubble or supercavity enable the reduction of drag and increase of speed; however, planing forces generated when the vehicle aft end pierces the bubble can lead to oscillatory motion and instability. In this paper, a framework for the synthesis of planing avoidance controllers is presented and the trade-off between tracking performance and planing avoidance is investigated. We propose mathematical models of the supercavity and planing forces, based on experimental data, that are used to construct a nonlinear model of the vehicle dynamics and a simplified version suitable for analysis and controller synthesis. A planing metric, based on the simplified vehicle dynamics, is used within the controller synthesis to avoid planing. Simulations of vehicle maneuvers demonstrate that including planing avoidance as a control objective, reduces planing and increases the bounds of tracking commands for which the vehicle remains stable.
KW - Aerospace
KW - Flight control
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=84905693923&partnerID=8YFLogxK
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U2 - 10.1109/ACC.2014.6859485
DO - 10.1109/ACC.2014.6859485
M3 - Conference contribution
AN - SCOPUS:84905693923
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 4979
EP - 4984
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -