This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a

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... al elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.