Abstract: According to the Logvinoch Theory of Independent Expansion, there is a time delay between each cross-section of the cavity expands and the path of the cavitator, such that the nonlinear dynamics model of supercavitating vehicles presents time-delay (memory) effects. In this paper, a nonlinear time-delay dynamic model is built and a complex control system is designed for the vehicle. A feedforward regulator and a feedback regulator are designed respectively. The feedforward regulator is used to eliminate disturbance of a planning force. The feedback regulator applied feedback linearization sliding mode to guarantee the control precision. The simulation results indicate that the dynamic response of step response curve decays fast, and adjusting time is 1.5s. The steady-state error is less than ±5%, which could fulfill the stable performance index of practical engineering.