Aerial-underwater systems, a new paradigm in unmanned vehicles

Diego A. Mercado, Marco M. Maia, F. Javier Diez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

Singularity-free modeling and control of Unmanned Aerial-Underwater Vehicles (UAUVs) are covered in this work. UAUVs are a new kind of unmanned vehicles capable of performing equally well in different mediums, and seamlessly transitioning between them. In particular, this work covers the modeling and attitude control of a special class of air-underwater vehicles with full torque actuation and a single thrust force. A quaternion based representation is used to avoid singularities. A nonlinear quaternion feedback and a Proportional-Integral-Derivative (PID) with compensation of the restoring forces are used to control the quaternion and altitude errors, respectively, while gain scheduling handles the abrupt change in the medium density. The use of quaternions allows for the vehicle to follow any desired angular reference, which is critical when underwater in order to efficiently overcome the vehicle's buoyancy and drag. Numerical simulations are presented to validate the proposed control scheme.

Original languageEnglish (US)
Title of host publication2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1690-1695
Number of pages6
ISBN (Electronic)9781509044948
DOIs
StatePublished - Jul 25 2017
Event2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 - Miami, United States
Duration: Jun 13 2017Jun 16 2017

Publication series

Name2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Other

Other2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Country/TerritoryUnited States
CityMiami
Period6/13/176/16/17

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Optimization

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