关键词: 超空泡航行体, 滑模控制, 模糊系统, 自适应

Abstract: In order to deal with nonlinearity term and perturbation caused by unmodelled dynamics and shape changing of supercavities，an Adaptive Fuzzy Sliding Mode Controller（AFSMC） is proposed for supercavitating vehicles in the vertical plane.The universal approximation ability of adaptive fuzzy system is used to approximate the nonlinear uncertainties in the model of supercavitating vehicles.And because the sliding mode control is robustness to external disturbance strongly，the integral sliding mode surface is constructed to overcome the influence of approximation error and external disturbance.In the end，the Lyapunov theorem is used to prove the stability of the closed loop system.Simulation results show that the proposed controller can overcome the approximately compute error of planning force and the uncertainties of hydrodynamic coefficients.

Key words: supercavitating vehicles, sliding mode control, fuzzy system, adaptive