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Linear Parameter Varying control of the supercavitating vehicle

A systematic approach to parameter-dependent control synthesis of a candidate High-Speed Supercavitation Vehicle (HSSV) is presented. The aim of the control design is to provide robust reference tracking properties across a large flight envelope, while directly accounting for the interaction of liquid and gas phases with the vehicle. A Linear Parameter Varying (LPV) controller is synthesized for the angle rate tracking problem in the presence of model uncertainty. The control design takes advantage of the coupling in the governing equations. Several LPV controllers synthesized for smaller overlapping regions of the parameter space are blended together, providing a single controller for the full flight envelope. Time-domain simulations implemented on high-fidelity simulations, provide insight into the performance and robustness of the proposed scheme.