Anti-saturation compensation method for underwater high-speed vehicle actuator

The invention discloses an anti-saturation compensation method for an underwater high-speed vehicle actuator, and belongs to the technical field of ship engineering, control science and control engineering. An anti-saturation compensator system for the underwater high-speed vehicle actuator comprises an underwater high-speed vehicle longitudinal movement module, a longitudinal movement feedback linearization controller module which does not consider saturation, a performance index calculation module, an anti-saturation compensation module, a saturation detection module and a compensation effect simulation storage module. A design method for the anti-saturation compensator system comprises the following steps that: firstly, according to the Newton's laws of motion and the theorem of moment of momentum, establishing a kinetic model for underwater high-speed movement body longitudinal movement; then, according to the design steps of the feedback linearization controller, designing the controller; and finally, de