The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operatin...The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operating in a single medium.To ensure the reliable and stable completion of tasks by AAVs,this paper proposes a tiltable quadcopter AAV to mitigate the potential issue of rotor failure,which can lead to high-speed spinning or damage during cross-media transitions.Experimental validation demonstrates that this tiltable quadcopter AAV can transform into a dual-rotor or triple-rotor configuration after losing one or two rotors,allowing it to perform cross-domain movements with enhanced stability and maintain task completion.This enhancement significantly improves its fault tolerance and task reliability.展开更多
The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this...The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.展开更多
The stability of Aerial-aquatic vehicles(AAVs)control under complex maritime conditions is of significant importance for its practical application.To achieve higher control accuracy and faster response speed,this pape...The stability of Aerial-aquatic vehicles(AAVs)control under complex maritime conditions is of significant importance for its practical application.To achieve higher control accuracy and faster response speed,this paper proposes a nonsingular terminal super-twisting sliding mode(NTSTSM)control method based on an extended state observer to address the stability control issues of AAVs when subjected to disturbances in real environments.Additionally,a cross-medium switching rule is designed to achieve a continuous transition across the water-air interface.By establishing scenarios for aerial,underwater,and continuous cross-medium motion,and comparing the trajectory tracking control effects of the LOS-based PID,ADRC,and NTSTSM methods,simulation results demonstrate that the tandem-rotor AAV under the NTSTSM method can achieve reliable trajectory tracking with smaller errors in a multi-domain environment and smooth cross-domain motion under the switching rule.The method exhibits less chattering and superior robustness in handling disturbances and during crossmedium transitions,thereby highlighting the superiority and reliability of the NTSTSM method to a certain extent.展开更多
基金supported by Southern Marine Science and Engineering Guangdong Laboratory Grant No.SML2023SP229。
文摘The cross-domain capabilities of aerial-aquatic vehicles(AAVs)hold significant potential for future airsea integrated combat operations.However,the failure rate of AAVs is higher than that of unmanned systems operating in a single medium.To ensure the reliable and stable completion of tasks by AAVs,this paper proposes a tiltable quadcopter AAV to mitigate the potential issue of rotor failure,which can lead to high-speed spinning or damage during cross-media transitions.Experimental validation demonstrates that this tiltable quadcopter AAV can transform into a dual-rotor or triple-rotor configuration after losing one or two rotors,allowing it to perform cross-domain movements with enhanced stability and maintain task completion.This enhancement significantly improves its fault tolerance and task reliability.
基金supported by Southern Marine Science and Guangdong Laboratory(Zhuhai)(Grant No.SML2023SP229)。
文摘The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.
基金supported by National Natural Science Foundation Project(Grant No.12572408)Guangdong S&T Programme(Grant No.2025B1111130002)+1 种基金Guangdong Special Support Program Project(Grant No.2023 TX07A477)Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai,Grant No.SML2024SP007).
文摘The stability of Aerial-aquatic vehicles(AAVs)control under complex maritime conditions is of significant importance for its practical application.To achieve higher control accuracy and faster response speed,this paper proposes a nonsingular terminal super-twisting sliding mode(NTSTSM)control method based on an extended state observer to address the stability control issues of AAVs when subjected to disturbances in real environments.Additionally,a cross-medium switching rule is designed to achieve a continuous transition across the water-air interface.By establishing scenarios for aerial,underwater,and continuous cross-medium motion,and comparing the trajectory tracking control effects of the LOS-based PID,ADRC,and NTSTSM methods,simulation results demonstrate that the tandem-rotor AAV under the NTSTSM method can achieve reliable trajectory tracking with smaller errors in a multi-domain environment and smooth cross-domain motion under the switching rule.The method exhibits less chattering and superior robustness in handling disturbances and during crossmedium transitions,thereby highlighting the superiority and reliability of the NTSTSM method to a certain extent.
