Modelling and Robust Control of Hybrid Unmanned Aerial-Underwater Robot in the Presence of Uncertainty
Open Access
- 5 July 2023
- conference paper
- Published by Association for Computing Machinery (ACM)
- p. 1-6
Abstract
A "Hybrid" vehicle is one that has the potential to operate in more than one environment. This work demonstrates a robust backstepping control algorithm for the autonomous transmedia operation of a hybrid unmanned aerial-underwater vehicle in the presence of uncertainty. The simplified mathematical model is considered to depict the entire controller design procedure. The numerical simulation is carried out to demonstrate the proposed control system’s efficiency and compare it to existing PID control. The vehicle’s transient behaviour is compared in six different transmedia manoeuvres between air and water. The suggested control system is evaluated for stability in aerial manoeuvres and transmedia manoeuvres with respect to the conventional PID algorithm in the MATLAB-Simulink environment to demonstrate the superiority of the proposed algorithm.Keywords
This publication has 8 references indexed in Scilit:
- Analysis of a Hybrid Unmanned Aerial Underwater Vehicle Considering the Environment Transition2021
- A Novel Concept for Hybrid Unmanned Aerial Underwater Vehicles Focused on Aquatic Performance2020
- Modeling and control of unmanned aerial/underwater vehicles using hybrid controlControl Engineering Practice, 2018
- Aerial-Underwater Systems, a New Paradigm in Unmanned VehiclesJournal of Intelligent & Robotic Systems, 2018
- Loon Copter: Implementation of a hybrid unmanned aquatic–aerial quadcopter with active buoyancy controlJournal of Field Robotics, 2018
- Aerial-underwater systems, a new paradigm in unmanned vehicles2017
- Attitude control for an Hybrid Unmanned Aerial Underwater Vehicle: A robust switched strategy with global stability2015
- Hybrid Unmanned Aerial Underwater Vehicle: Modeling and simulation2014