中文摘要：

超空泡航行体由于浮力缺失以及尾部滑行力的出现，使航行体具有了尾拍、结构振动和非线性等复杂的运动特征，给超空泡航行体的运动稳定控制设计造成了极大的困难。通过分析作用在超空泡航行体上的流体动力，推导出了超空泡下潜一俯仰面运动数学模型。依据对该模型开环时的系统特性分析，针对开环系统的不稳定性，设计了基于改进型指数趋近率的变结构控制器，并进行了数学仿真。仿真结果表明，该闭环系统响应快速，具有良好的稳定性能。

英文摘要：

With the loss of the buoyancy and the occurrence of the planing force being brought by supercavitation, the supercavitating vehicles confront complicate motion characters, such as tail-slap, structural vibrations and nonlinearity. These problems bring great difficulties for stability control design, Through analyzing the hydrodynamic forces acting on supercavitating vehicles, a dive-pitch-plane dynamics model for supercavitating vehicle was presented. According to open-loop system response, and due to the instability of the system, a variable-structure controller based on improved exponent approaching law was designed, and mathematical simulation was performed for supercavitating vehicles with the controller. The simulation result demonstrates that the closed-loop system responds rapidly and has good performance.