Anti-windup control for a supercavitating vehicle with actuator saturation based on LPV

In order to solve the actuator saturation problem that occurs in the dynamic process of the high speed supercavitating vehicle(HSSV), this paper proposes an anti-windup controller based on the LPV method. First, the widely-cited benchmark control model is expanded into a new model which takes the actuator saturation nonlinearity into consideration. By modeling the planing force and actuators as affine functions of time-varying parameters, state variables and control input, 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 even in saturation. Based on this model, the polyhedron method and Lyapunov theory are applied to design a static state feedback controller that has no dependence on the time-varying parameters. Since the controller is presented in the form of an linear matrix inequality(LMI), it can be solved efficiently. Simulation results show that the designed controller can guarantee the stability of the closed-loop system in face of actuator saturation, and achieve the given H∞ performance under zero initial conditions.