Attitude and Altitude Control of Unmanned Aerial-Underwater Vehicle Based on Incremental Nonlinear Dynamic Inversion

Chen, Guo-Ming; Liu, An; Hu, Junhua; Feng, Jun; Ma, Zaitian

doi:10.1109/access.2020.3015857

Cited by 19 publications

(6 citation statements)

References 21 publications

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“…These vehicles might not accomplish the required jobs effectively. However, UUVs have limitations due to the environments in which they have been deployed [5]. To this end, numerous UAVs with fixed-wing, multirotor, and flapping wings and those with other architectural configurations and mathematical description methods have been developed and researched.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Azid,

Mehta,

Kuar

et al. 2024

Journal of Robotics

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With the advancement in robotics technology over the recent years, underwater robots’ design and development are gaining interest. Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV’s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.

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Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Azid,

Mehta,

Kuar

et al. 2024

Journal of Robotics

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“…It must also be lightweight and waterproof. These challenges are not trivial and are being studied by research groups at many universities around the world [Alzu'bi et al 2018, Ma et al 2018, Lu et al 2019, Chen et al 2020.…”

Section: Introduction 1hybrid Unmanned Aerial Underwater Vehiclesmentioning

confidence: 99%

Trajectory Planning of an Aerial-Underwater Hybrid Vehicle Based on Heuristics for Energy Efficiency

Pinheiro,

A. Neto,

Drews Jr.

2023

Anais Estendidos Do XV Simpósio Brasileiro De Robótica E XX Simpósio Latino-Americano De Robótica (SBR/LARS Estendido 2023)

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This work studies the trajectory planning of an unmanned hybrid aerial-underwater vehicle (HUAUV) called Hydrone, which is being developed by the Intelligent Robotics and Automation Group (NAUTEC) of the Federal University of Rio Grande (FURG). This study presents a new trajectory planning algorithm, based on closed-loop rapidly exploring random trees (CL-RRT). This algorithm is developed for an HUAUV and introduces two heuristics to improve its energy efficiency in hybrid tasks. Simulated experiments were carried out in 135 virtual scenarios, comparing three approaches: one without heuristics and two with the proposed heuristics. Simulated results demonstrate that using the heuristics can significantly reduce energy consumption and even improve the vehicle’s average speed during missions. In particular, in 95% of the scenarios, the lowest energy consumption was achieved by one of the two heuristic-based algorithms. This article concludes by summarizing the findings and identifying potential future research opportunities.

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“…By producing the incremental form of the control command by calculating the error between the virtual control law and the acceleration of the system state, INDI is robust to model uncertainties [12][13][14][15][16][17][18][19]. In [17], the stability and robustness of the INDI technique has been proven.…”

Section: Introductionmentioning

confidence: 99%

Incremental Nonlinear Dynamic Inversion Attitude Control for Helicopter with Actuator Delay and Saturation

Zhang

2023

Aerospace

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In this paper, an incremental nonlinear dynamic inversion (INDI) control scheme is proposed for the attitude tracking of a helicopter with model uncertainties, and actuator delay and saturation constraints. A finite integral compensation based on model reduction is used to compensate the actuator delay, and the proposed scheme can guarantee the semi-globally uniformly ultimately bounded tracking. The overall attitude controller is separated into a rate, an attitude, and a collective pitch controller. The rate and collective pitch controllers combine the proposed method and INDI to enhance the robustness to actuator delay and model uncertainties. Considering the dynamic of physical actuators, pseudo-control hedging (PCH) is introduced both in the rate and attitude controller to improve tracking performance. By using the proposed controller, the helicopter shows good dynamics under the multiple restrictions of the actuators.

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Attitude and Altitude Control of Unmanned Aerial-Underwater Vehicle Based on Incremental Nonlinear Dynamic Inversion

Cited by 19 publications

References 21 publications

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Trajectory Planning of an Aerial-Underwater Hybrid Vehicle Based on Heuristics for Energy Efficiency

Incremental Nonlinear Dynamic Inversion Attitude Control for Helicopter with Actuator Delay and Saturation

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