We address the problem of vertical air-water trans-media control of Hybrid Unmanned Aerial Underwater Vehicles in the presence of parameters uncertainty and disturbances. Hybrid Unmanned Aerial Underwater Vehicle suffers from huge changes of added mass, fluid drag force, and "ground effect" during crossing air-water surface, which easily lead to transmedia failure. A novel structure of Hybrid Unmanned Aerial Underwater Vehicle is built and introduced which adopts dual deck propellers including four air propellers and four water propellers. The dynamic model of trans-media process is developed for the trans-media process in condition that added mass, floatage, and drag force are linearized while linearization errors and "ground effect" are treated as disturbances. Attitude and altitude-depth controllers are designed based on Lyapunov stability theory and adaptive sliding mode dynamical surface control. The proposed controllers accomplish air, underwater, and "seamless" trans-media process integrated control without a priori boundary of disturbances, forcing the tracking errors to an arbitrarily small neighborhood of zero. Simulation results are presented to illustrate the control algorithm with good performance and robustness.
This paper presents a robust position tracking control scheme for underwater vehicles moving in a vertical plane. The idea comes from the demand of underwater position tracking control for the newly borne Trans-media Aerial Underwater Vehicle (TMAUV). Although position control of a TMAUV is still within the scope of autonomous underwater vehicles (AUVs) control, it has new features. An underwater reference path for the TMAUV could be characterized by a strong maneuver that many assumptions in the conventional AUV controller design could not be employed. In this paper, a Lyapunov-based backstepping controller is developed for a nonlinear coupled input system releasing all constraints on the pitch angle, heave velocity, and angular velocity. Furthermore, neural networks and parameter estimation are employed to develop a robust controller in the presence of model uncertainties, parameter uncertainties, and external disturbances. This paper also solves the problem of adaptive estimation for the system parameters under the coupled input condition. Simulations are presented to demonstrate the feasibility and effectiveness. INDEX TERMS TMAUV, position tracking control, adaptive control, backstepping method.
Autonomous maneuvering decisions of unmanned aerial vehicle (UAV) in short-range air combat remain a challenging research topic, and a decision method based on an improved deep deterministic policy gradient (DDPG) is proposed. First, the problem model is improved from the perspective of energy-air combat, and a decision model with engine thrust, angle of attack, and roll angle as control variables is established. The normal and tangential overloads are determined by these control variables, and the decision is constrained by the flight stability and threshold range. Subsequently, the decision learning algorithm of the maneuver command is designed based on the DDPG framework. According to the energy air combat, speed is introduced into the return function in some states to make the return value more in line with reality. In view of the slow learning speed of the DDPG algorithm, the winning rate is introduced into the ε-greedy strategy to adjust the exploration and application probabilities in real time. In view of the decrease in computational efficiency caused by the large amount of empirical data, a similar empirical exclusion was carried out based on the vector distance. The simulation results show that the DDPG-based algorithm realizes autonomous decisions of engine thrust, roll angle, and attack angle under constraints, and the comparative simulation shows that the improvement measures are effective.INDEX TERMS Unmanned aerial vehicle (UAV), maneuvering decision, deep deterministic policy gradient (DDPG), short-range air combat, reinforcement Learning (RL)
Hybrid aerial underwater vehicles (HAUV) are newly borne vehicle concepts, which could fly in the air, navigate underwater, and cross the air-water surface repeatedly. Although there are many problems to be solved, the advanced concept, which combines the integrated multidomain locomotion of both water and air mediums is worth exploring. This paper presents the water–air trans-media status of the HAUV from the perspective of the configuration and trans-media control. It shows that the multi-rotor HAUV is relatively mature and has achieved a stable water–air trans-media process repeatedly. The morphing HAUV is still in its exploration stage, and has achieved partial success.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.