Closed-Loop Control of a Delta-Wing Unmanned Aerial-Aquatic Vehicle

Moore, Joseph

doi:10.48550/arxiv.1906.01532

Cited by 4 publications

(5 citation statements)

References 17 publications

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“…Buoyant materials are arranged inside the wing to ensure the stability of the UAAV in the water. Before meeting the thrust requirements, a single thruster is used, placed at the forefront of the UAAV, which is convenient to provide thrust at the first time after leaving the water [32]. In order to enhance the stability of navigation and ensure good navigation performance and easy control, the UAAV should be set up with a tail using a combination of horizontal and vertical tails.…”

Section: Propulsion System Experiments and Transmedia Performance Res...mentioning

confidence: 99%

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

Sun,

Cao,

et al. 2023

JMSE

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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.

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Section: Propulsion System Experiments and Transmedia Performance Res...mentioning

confidence: 99%

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

Sun,

Cao,

et al. 2023

JMSE

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“…Different shapes affect the implementation of HAUVs in different mission profiles from the aspects of structural strength, water entry and so on, such as the British Imperial College's imitation booby paddle propulsion [13], the fixed-wing HAUV eagle ray [14] flight-tested by the University of North Carolina in the United States, the Delta-Wing UAV [15] of Johns Hopkins University, the UAUV Manta ray [16] and Nezha [17] of Shanghai Jiaotong University and the flexible anamorphic amphibious vehicle represented by the bionic flying fish [18]. Above are multi-mode vehicles of the air to water transition.…”

Section: Variable-swept Configuration Designmentioning

confidence: 99%

“…Sci. 2023, 13, x FOR PEER REVIEW 4 of 23 [15] of Johns Hopkins University, the UAUV Manta ray [16] and Nezha [17] of Shanghai Jiaotong University and the flexible anamorphic amphibious vehicle represented by the bionic flying fish [18]. Above are multi-mode vehicles of the air to water transition.…”

Section: Variable-swept Configuration Designmentioning

confidence: 99%

Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control

Xing,

Wei,

et al. 2023

Applied Sciences

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The variation in aerodynamic parameters during the process of a variable sweepback hybrid aerial underwater vehicle (HAUV) affects flight stability. During the air–water trans-media locomotion, there are medium mutations and solid–liquid gas coupling phenomena, resulting in the complex dynamic process of HAUV. To ensure stable control during the trans-media process of a variable sweepback vehicle, this study proposes a neural-network-based adaptive dynamic surface control method for aircraft flight-path angle. This method aims to establish an effective control model for the entire process of air to media transition, in response to the characteristics of uncertainty and external disturbances in the process of variable backsweeping in the air and media transition. By utilizing the multibody dynamics method, the dynamic equations for variable-swept vehicles are established and transformed into a rigorous feedback system with model uncertainty. The adaptive dynamic surface method in this paper introduces a first-order filter, which overcomes the “differential explosion” problem in traditional backstepping control design through differential filtering; the unknown parameters present in the model are estimated online through adaptive laws, and the uncertain parts of the system are overcome through nonlinear damping items. By analyzing Lyapunov stability, the semi-global stability of the required closed-loop system can be obtained, and adjusting the controller parameters can make the tracking error infinitely small. Numerical simulations are conducted to illustrate the tracking control of flight-path angles for different plunge-diving angle rates and strategy of ingress. The results show that HAUV with variable-swept configuration with different strategy has a great effect on the stability of plunge-diving locomotion; the designed controller can effectively track the target trajectory and has a certain degree of robustness and adaptability.

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“…In comparison, FHAUV inherits the motion mechanism and efficient hydrodynamic characteristics of fixed-wing UAV, and the lift is provided by the wings, so FHAUV has lower energy consumption and faster flight speed, allowing it to operate over long periods and wide ranges, which gives FHAUV better time, space and daily cost advantages in future large-scale applications. The wings of FHAUV have several structures, such as delta wing [18,19], flat wing [20][21][22] and folding wing [23] types. However, the general FHAUV inclines and crosses the water surface continuously in the air/water transition, without the ability of VTOL at the water surface, and also faces a large difference in flight speed and underwater speed.…”

Section: Introductionmentioning

confidence: 99%

“…For FHAUV, the researchers from Johns Hopkins University took underwater cruising and flight cruising as initial and final states and added the constraints to design an optimal trajectory of longitudinal motion of a delta wing FHAUV [18]. In the further study, they proposed a control combination of linear quadratic regulator and extended Kalman filter for dynamic linearization of motion model [19]. There are also a few other studies on the control of FHAUV, but only involving a single medium environment and not including the air/water transition [40,41].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Li,

Jin,

et al. 2024

J Intell Robot Syst

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The hybrid aerial underwater vehicle (HAUV) could operate in the air and underwater might provide a great convenience for aerial and underwater exploration, and the fixed-wing HAUV (FHAUV) has time, space and cost advantages in future large-scale applications, while the large difference between the aerial and underwater environments is a challenge to control, especially in the air/water transition. However, for FHAUV control, there is a lack of research on phenomena or problems caused by large changes in the air/water transition. In addition, the effects of wind, wave, other factors and conditions on motion control are not investigated. This paper presents the first control study on the above issues. The motion model of FHAUV is developed, with the effects of wind and wave disturbances. Then, this paper improves a cascade gain scheduling (CGS) PID for different media environments (air and water) and proposes a cascade state feedback (CSF) control strategy to address the convergence problem of FHAUV control caused by large speed change in the air/water transition. In the comparisons of the two control schemes in various tracking cases including trajectory slopes, reference speeds, wind and wave disturbances, CSF has a better control effect, convergence rate and robustness; the key factors and conditions of the air/water transition are investigated, the critical relations and feasible domains of the trajectory slopes and reference speeds that the FHAUV must meet to successfully exit the water and enter the air are obtained, the critical slope decreases as the reference speed increases, and the feasible domain of CSF is larger than that of CGS, revealing that CSF is superior than CGS for exiting the water.

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Closed-Loop Control of a Delta-Wing Unmanned Aerial-Aquatic Vehicle

Cited by 4 publications

References 17 publications

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

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

Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

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