Abstract
This paper investigates dynamics modeling process and Robust controller designing of Hybrid Aerial Underwater Vehicles (HAUVs) which can navigate in two different media. In the process of the vehicle breaking through the water surface from underwater, it is easy to fail in the trans-medium process because of the drastic change of added mass, fluid resistance, and buoyancy. In order to control the movement process of HAUV through water-surface smoothly, a continuous dynamics model of the HAUV is built to describe the process of trans-media, which takes into account the influence of medium density discrete jump in vehicle dynamics. In addition, a linearized piecewise function is designed to approximate the variation of the fluctuation of extra variables. What’s more, a novel non-singular fast terminal sliding mode control (NFTSMC) algorithm is introduced for designing the position and attitude controller, which ensures that the control errors converge to 0 in finite-time. The feasibility, superiority and robustness of the adopted control algorithm are verified by computer numerical simulation results.
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Lu, M., Wu, W., Liao, F., Fan, Z., **ng, B. (2023). Nonsingular Fast Terminal Sliding-Mode Tracking Control for Hybrid Aerial Underwater Vehicles. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_700
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DOI: https://doi.org/10.1007/978-981-19-6613-2_700
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