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On the basis of dynamic modeling for underwater supercavitating vehicles, the paper designed controllers adopting variable structure control strategy whose robustness can suppress unknown disturbance caused by imprecision existed in dynamic modeling. Theory analysis and simulation show that the controller designed can make pose angle track course angle of trajectory steadily, realize decoupling controlling between three pose moving subsystems and have good robustness for outside interference and model’s error, which assure that supercavitating vehicles have good maneuverability.

Design of Pose Controller of Underwater Supercavitating Vehicles Based on Variable Structure