μ-Synthesis robust controller design for the supercavitating vehicle based on the BTT strategy

• A control strategy based on BTT control for supercavitating vehicle is proposed.
• The mathematical model of BTT supercavitating vehicle is established.
• The full state model is divided into pitch channel and yaw–roll channel.
• μ-Synthesis controller is designed for the channels, and the simulation research is carried out.

In order to maintain the stability of the supercavitating vehicle in the turning process, a pair of elevator is used to achieve the functionality of the ailerons and the roll damping is provided by a pair of rudder. The turn centripetal force of the supercavitating vehicle is mainly supplied by a cavitator. In this paper, a control strategy based on BTT control for the supercavitating vehicle is proposed. The mathematical model of the BTT supercavitating vehicle is established, and the full state model is designed to include a pitch channel and a yaw–roll channel, and a μ-synthesis controller is designed respectively for the dual channels, and the simulation research of control effect is carried out.