Abstract:

In order to solve the actuator saturation problem that occurs in the dynamic process of the high speed supercavitating vehicle, an anti-windup controller based on the linear parameter varing (LPV) method is proposed.First, the dynamic model is expanded into a model which takes the actuator saturation nonlinearity into consideration.By modeling the planing force and the actuators as affine functions of timevarying parameters, the resulting system matrixes of the LPV model depend affinely on the timevarying parameters.Also the noise disturbance is included to make the controller robust.Based on this model, the polyhedron method and the Lyapunov theory are applied to design a static state feedback controller that has no dependence on the time varying parameters.Simulation results show that the designed controller can guarantee the tracking performance of the closed loop system in face of the actuator saturation, and achieve the given H∞ performance under zero initial conditions.