Abstract
The water-air amphibious multi-rotor vehicle is a kind of trans-medium vehicle which can move in water and air. Aiming at the control problem of water-air amphibious multi-rotor vehicle in water medium, this paper proposed a sliding mode control (SMC) method for underwater motion control of water-air amphibious multi-rotor vehicle. In this paper, an underwater kinematics model of a water-air amphibious multi-rotor vehicle is established, and the influence of hydrodynamic force on the vehicle during underwater movement is analyzed. The viscous resistance of the vehicle moving in water is simulated by ansys software (FLUENT), and the relationship between viscous resistance and movement speed is obtained. Based on this, considering the internal and external disturbances of motion in the water medium, the position and attitude controller of the water-air amphibious multi-rotor vehicle is designed by using the sliding mode control technology. Finally, compared with PID and cascade sliding mode controller, the effectiveness and superiority of the proposed control strategy are verified.
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Acknowledgements
This work is supported by Student Innovation Fund project of Southwest University of Science and Technology (CX21-016).
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Sun, J., Wang, L., Wu, T. (2023). Research on Cross-Media Control of Amphibious Multi-rotor Vehicle Based on Sliding Mode Control Technology. 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_227
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DOI: https://doi.org/10.1007/978-981-19-6613-2_227
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