Adaptive finite-time attitude control of supercavitating vehicle for high-speed water entry

This paper addresses high-precision attitude disturbance rejection control for supercavitating vehicles during high-speed water entry. An adaptive finite-time attitude control method is proposed, based on an improved dynamic model, considering cavitation characteristics. An adaptive finite-time sliding mode control law is designed, integrating a non-singular terminal sliding surface and adaptive disturbance estimation to handle coupling, nonlinearity and uncertainty, ensuring finite-time convergence, accuracy and disturbance rejection. Lyapunov analysis verifies closed-loop stability. Compared to classical sliding mode control, it shows smoother actions and superior disturbance rejection.