Research on the control problem of actuator anti-saturation of supercavitating vehicle

In the theoretical controller design of the High-Speed Supercavitating Vehicle (HSSV), there will always be the problem that the physical saturation limit has to be exceeded by the motion range of the actuator to satisfy the requirements of stable motion of the supercavitating vehicle. This paper proposes a solution which could satisfy the requirements of stable motion of the vehicle without saturation of the actuator. First of all, the rotation range of the actuator and the motion performance of the vehicle with robust controller are analyzed under the condition where saturation is neglected. Then, according to the analysis conclusion, the controller is improved by using linear active disturbance rejection control (LADRC) method, which provides the additional control component to reduce the rotation angle and rotation speed of the actuator. Finally, the simulation proves that the solution could realize the stable motion of vehicle without saturation of actuator.