Trajectory-Following Control of an Unmanned Aerial–Aquatic Vehicle under Complex Coupling Interferences

Abstract

This article explores trajectory-following control for an unmanned aerial–aquatic vehicle (UAAV) navigating complex ocean disturbances and the interplay of air–seawater coupling factors. First, leveraging the backstepping technology, an adaptive algorithm is proposed to tackle the attitude and position following. Additionally, a nonlinear observer is crafted to estimate complex ocean disturbances. The UAAV model, characterized by six degrees of freedom (DOF) and nonlinear properties, experiences significant pose changes when emerging from water, underscoring the critical importance of precise pose control. Finally, stability analysis and numerical simulations are demonstrated to verify the feasibility and validity of the proposed control strategies.