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

摘要： 针对超空泡航行体动态中的非线性项和未建模动态，以及由空泡形状改变引起的扰动问题，提出了一种基于自适应模糊滑模的纵平面运动控制器设计方法。该方法利用自适应模糊系统逼近超空泡航行体模型中的非线性不确定项；利用滑模控制对干扰的鲁棒性，克服逼近误差和干扰；最后用Lyapunov定理证明了闭环系统的稳定性。仿真结果表明，设计的控制器可有效克服滑行力的计算误差以及水动力参数的不确定性。

关键词: 超空泡航行体, 滑模控制, 模糊系统, 自适应