Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume 95, Issue 1, Pages 229-238Publisher
SPRINGER
DOI: 10.1007/s10846-018-0820-x
Keywords
Multi-medium systems; UAVs; UUVs; Singularity-free; Trajectory tracking
Funding
- Office of Naval Research (ONR) [N00014-15-2235]
Ask authors/readers for more resources
Unmanned Aerial-Underwater Vehicles (UAUVs) arise as a new kind of unmanned system capable of performing equally well in multiple mediums and seamlessly transitioning between them. This work focuses in the modeling and trajectory tracking control of a special class of air-underwater vehicle with full torque actuation and a single thrust force directed along the vehicle's vertical axis. In particular, a singularity-free representation is required in order to orient the vehicle in any direction, which becomes critical underwater in order to direct the thrust force in the direction of motion and effectively overcome the increased drag and buoyancy forces. A quaternion based representation is used for this purpose. A hierarchical controller is proposed, where trajectory tracking is accomplished by a Proportional-Integral-Derivative (PID) controller with compensation of the restoring forces. The outer trajectory tracking control loop provides the thrust force and desired orientation. The latter is fed to the inner attitude control loop, where a nonlinear quaternion feedback is employed. A gain scheduling strategy is used to deal with the drastic change in medium density during transitions. The proposed scheme is studied through numerical simulations, while real time experiments validate the good performance of the system.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available