Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics
Supercavitation technology can greatly improve the speed of underwater vehicles by reducing drag. However, the time-delay characteristic of a supercavitating vehicle presents control challenge. In this paper, a linear parameter-varying (LPV) time-delay model for a supercavitating vehicle is establis...
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doaj-d1b25dfa106248138a6363ad23986adc2021-04-05T17:35:57ZengIEEEIEEE Access2169-35362021-01-019134991351210.1109/ACCESS.2020.30465179303436Predictive Control of a Supercavitating Vehicle Based on Time-Delay CharacteristicsYuntao Han0https://orcid.org/0000-0002-0889-6468Zhen Xu1Lianwu Guan2https://orcid.org/0000-0001-8803-910XCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, ChinaSupercavitation technology can greatly improve the speed of underwater vehicles by reducing drag. However, the time-delay characteristic of a supercavitating vehicle presents control challenge. In this paper, a linear parameter-varying (LPV) time-delay model for a supercavitating vehicle is established by analysing the time-delay characteristics of the planing force. Moreover, considering that the cavitation radius is easily perturbed by external disturbances, a supercavitating LPV delay model depicted as a polytope is established. Based on the model, a predictive controller based on time-delay characteristics is designed. The controller can solve linear matrix inequalities (LMI) online to find the optimal solution at a given moment. In addition, the controller introduces a different Lyapunov function and multiple free control variables to reduce the system's conservativeness and expand the system's initial feasible region, which can improve the control performance of the system. A simulation verifies that the system exhibits good stability and robustness.https://ieeexplore.ieee.org/document/9303436/LMIpredictive controllerplaning forcesupercavitationtime-delay characteristics |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yuntao Han Zhen Xu Lianwu Guan |
spellingShingle |
Yuntao Han Zhen Xu Lianwu Guan Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics IEEE Access LMI predictive controller planing force supercavitation time-delay characteristics |
author_facet |
Yuntao Han Zhen Xu Lianwu Guan |
author_sort |
Yuntao Han |
title |
Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics |
title_short |
Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics |
title_full |
Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics |
title_fullStr |
Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics |
title_full_unstemmed |
Predictive Control of a Supercavitating Vehicle Based on Time-Delay Characteristics |
title_sort |
predictive control of a supercavitating vehicle based on time-delay characteristics |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2021-01-01 |
description |
Supercavitation technology can greatly improve the speed of underwater vehicles by reducing drag. However, the time-delay characteristic of a supercavitating vehicle presents control challenge. In this paper, a linear parameter-varying (LPV) time-delay model for a supercavitating vehicle is established by analysing the time-delay characteristics of the planing force. Moreover, considering that the cavitation radius is easily perturbed by external disturbances, a supercavitating LPV delay model depicted as a polytope is established. Based on the model, a predictive controller based on time-delay characteristics is designed. The controller can solve linear matrix inequalities (LMI) online to find the optimal solution at a given moment. In addition, the controller introduces a different Lyapunov function and multiple free control variables to reduce the system's conservativeness and expand the system's initial feasible region, which can improve the control performance of the system. A simulation verifies that the system exhibits good stability and robustness. |
topic |
LMI predictive controller planing force supercavitation time-delay characteristics |
url |
https://ieeexplore.ieee.org/document/9303436/ |
work_keys_str_mv |
AT yuntaohan predictivecontrolofasupercavitatingvehiclebasedontimedelaycharacteristics AT zhenxu predictivecontrolofasupercavitatingvehiclebasedontimedelaycharacteristics AT lianwuguan predictivecontrolofasupercavitatingvehiclebasedontimedelaycharacteristics |
_version_ |
1721539351037345792 |