The Control Method for Catastrophe of Out-of-water Model of Underground Mine

The mathematical model of a mine gets catastrophe at the out-of-water moment when it is launched underwater to attack the target on water,which seriously a?ects the out-of-water stability and hit rate of the mine.For this course,we design a single controller and a combined controller of sliding mode variable structure(SMVS).The input and output feedback linearization method of differential geometry is adopted to linearize the nonlinear system.Moreover,the variable structure control strategy and approaching law are used to design the closed-loop control system for attitude tracking,which is characterized by easy realization and simple calculation.Simulation result shows that the control system designed can be used in the out-of-water catastrophic course of the submerged attack and is robust to perturbation of system parameters.