Optimal controller design in longitudinal channel based on dynamic inversion of an underwater high-speed vehicle

Supercavitation is an emerging technology that enables underwater vehicles to reach unprecedented speed. The surface of underwater high-speed vehicle is surrounded by water vapor cavity while sailing in the water. When the tail of the underwater high-speed vehicle interacts with the cavity wall, the nonlinear planing force is produced. We analyze the forces acting on the underwater high-speed vehicle, and the longitudinal channel mathematical model of the underwater high-speed vehicle is established. In order to deal with the nonlinearity of the model, we adopt dynamic inversion to decouple the model to linear model. Finally, the optimal controller in longitudinal channel is designed to realize the depth control of the underwater high-speed vehicle. The simulation results show that the optimal controller based on dynamic inversion can effectively control the depth of the underwater high-speed vehicle.