Transmedia Performance Research and Motion Control of Unmanned Aerial–Aquatic Vehicles

Author:

Sun Xiangren12,Cao Jian123,Li Yueming123,Li Haipeng45,Wang Weikai12

Affiliation:

1. Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin 150001, China

2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China

3. Sanya Nanhai Innovation and Development Base, Harbin Engineering University, Sanya 572024, China

4. Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, China

5. National Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China

Abstract

This paper presents an improved motion controller based on the backstepping method to address nonlinear control challenges in unmanned aerial–aquatic vehicles (UAAVs), enabling them to navigate between two different media. The nonlinear control approach is applied to UAAV motion control, incorporating filters to improve stability. The study designs motion controllers for three UAAV phases: underwater, in the air, and transitioning between media. Fluid simulations of the emergence process of the UAAV for future field experiments were conducted. By fine-tuning the simulations, a comprehensive understanding of the vehicle’s performance is obtained, offering crucial insights for the development of subsequent control systems. Simulation results confirm the controller’s ability to achieve target trajectory tracking with control system responses that meet practical requirements. The controller’s performance in attitude control and trajectory tracking is verified in underwater gliding, transmedia transitions, and airborne phases, demonstrating its effectiveness.

Funder

Hainan Provincial Joint Project of Sanya Yazhou Bay Science and Technology City

National Natural Science Foundation of China

Stable Supporting Fund of Science and Technology on Underwater Vehicle Technology

National Key R&D Program of China

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

Reference37 articles.

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4. Shen, C. (2018). Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy. [Ph.D. Thesis, University of Victoria].

5. Moore, J., Fein, A., and Setzler, W. (2018, January 21–25). Design and analysis of a fixed-wing unmanned aerial-aquatic vehicle. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.

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