Abstract
By traveling inside a gas cavity, a supercavitating vehicle can reduce hydrodynamic drag, increase speed, and minimize power consumption. The main challenge for controlling a supercavitating vehicle is a nonlinear force that arises when the vehicle back-end pierces the cavity. This force, referred to as planing, leads to oscillatory motion and instability. In an effort to develop robust control technologies for supercavitating vehicles, we developed and tested a control methodology for a small-scale system capable of freely rotating about its pitch axis in a high-speed water tunnel. We constructed a low-order nonlinear model of the longitudinal vehicle motion that is based on experimental observations and physical principles. By using this model, we developed a controller design method that delivers a proof of performance in the face of nonlinear and uncertain planing forces. Experiments with the vehicle prototype in the water tunnel suggest that the proposed control technique ensured higher performance when the uncertain planing dynamics are considered in the control synthesis.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 412-424 |
| Number of pages | 13 |
| Journal | Ocean Engineering |
| Volume | 160 |
| DOIs | |
| State | Published - Jul 15 2018 |
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Keywords
- Experimental validation
- Nonlinear systems
- Robust control
- Supercavitating vehicle
- Vehicle modeling
Cite this
Robust control of a small-scale supercavitating vehicle : From modeling to testing. / Escobar Sanabria, David; Arndt, Roger E.A.
In: Ocean Engineering, Vol. 160, 15.07.2018, p. 412-424.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Robust control of a small-scale supercavitating vehicle
T2 - From modeling to testing
AU - Escobar Sanabria, David
AU - Arndt, Roger E.A.
PY - 2018/7/15
Y1 - 2018/7/15
N2 - By traveling inside a gas cavity, a supercavitating vehicle can reduce hydrodynamic drag, increase speed, and minimize power consumption. The main challenge for controlling a supercavitating vehicle is a nonlinear force that arises when the vehicle back-end pierces the cavity. This force, referred to as planing, leads to oscillatory motion and instability. In an effort to develop robust control technologies for supercavitating vehicles, we developed and tested a control methodology for a small-scale system capable of freely rotating about its pitch axis in a high-speed water tunnel. We constructed a low-order nonlinear model of the longitudinal vehicle motion that is based on experimental observations and physical principles. By using this model, we developed a controller design method that delivers a proof of performance in the face of nonlinear and uncertain planing forces. Experiments with the vehicle prototype in the water tunnel suggest that the proposed control technique ensured higher performance when the uncertain planing dynamics are considered in the control synthesis.
AB - By traveling inside a gas cavity, a supercavitating vehicle can reduce hydrodynamic drag, increase speed, and minimize power consumption. The main challenge for controlling a supercavitating vehicle is a nonlinear force that arises when the vehicle back-end pierces the cavity. This force, referred to as planing, leads to oscillatory motion and instability. In an effort to develop robust control technologies for supercavitating vehicles, we developed and tested a control methodology for a small-scale system capable of freely rotating about its pitch axis in a high-speed water tunnel. We constructed a low-order nonlinear model of the longitudinal vehicle motion that is based on experimental observations and physical principles. By using this model, we developed a controller design method that delivers a proof of performance in the face of nonlinear and uncertain planing forces. Experiments with the vehicle prototype in the water tunnel suggest that the proposed control technique ensured higher performance when the uncertain planing dynamics are considered in the control synthesis.
KW - Experimental validation
KW - Nonlinear systems
KW - Robust control
KW - Supercavitating vehicle
KW - Vehicle modeling
UR - http://www.scopus.com/inward/record.url?scp=85046637758&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85046637758&partnerID=8YFLogxK
U2 - 10.1016/j.oceaneng.2018.04.060
DO - 10.1016/j.oceaneng.2018.04.060
M3 - Article
AN - SCOPUS:85046637758
VL - 160
SP - 412
EP - 424
JO - Ocean Engineering
JF - Ocean Engineering
SN - 0029-8018
ER -