Cascade control design for supercavitating vehicles with actuator saturation and the estimation of the domain of attraction

• Published in: Ocean engineering Vol. 282; p. 114996
• Main Authors: Zhou, Yu, Li, Jiedong, Sun, Mingwei, Zhang, Jianhong, Chen, Zengqiang
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.08.2023
• Subjects: Cascade control; Domain of attraction; Linear matrix inequalities; Planing force; Supercavitating vehicle; Supercavitating vehicle; Cascade control; Domain of attraction; Linear matrix inequalities; Planing force
• ISSN: 0029-8018
• DOI: 10.1016/j.oceaneng.2023.114996

Supercavitating vehicles can achieve underwater high-speed motion using supercavitation drag-reduction technology; however, the vehicle-cavity interaction can lead to strong nonlinear characteristics, which pose substantial challenges to the classical control method. This paper proposes a linear matrix inequality (LMI)-based cascade control to realize an efficient depth-tracking task subject to actuator saturation. First, the depth-tracking error cascade scheme is established. Then, the saturation constraint can be represented using the convex hull to obtain a linear-parameter-varying inner-loop model. Finally, the feedback gains can be optimized by using LMIs. Moreover, the domain of attraction can be estimated to obtain the feasible operating range, which can provide an overall guideline for practitioners. We evaluated the proposed method through a comparative simulation, and the results show that it quickly reached the desired depth without overshoot under actuator saturation, indicating the method’s feasibility and efficiency. •A cascade controller with actuator saturation is designed based on LMI and LPV.•Domain of attraction is provided and the smooth transient response is achieved.•Settling time and the domain of attraction can realize actively regulating.•The selection of reference set is investigated to find the larger domain of attraction.