Disturbance Observer-Based Robust Take-Off Control for a Semi-Submersible Permeable Slender Hybrid Unmanned Aerial Underwater Quadrotor
Abstract
:1. Introduction
- A new water–air trans-medium pattern is proposed for the HAUQ with a permeable slender body. Compared with the existing layouts of the HAUVs, the HAUQs with a permeable slender body can help to keep the streamlined fuselage needed for underwater and air navigation.
- A general mathematical model is established for HAUQs by employing the Newton–Euler formulation as the factors exist, including the strong uncertainties caused by the fluid dynamics in the complex water–air mixed environment, the fast time-varying added mass caused by the fluid dynamics and the residual water inside the slender body, the influence of the passive drainage, and the external disturbance.
- A disturbance observer-based robust control scheme is proposed for HAUQs. The robust control is adopted to compensate for the fast time-varying mass uncertainty. For the uncertainties of the multi-media complex dynamics modeling on the position and attitude dynamic equations, it is estimated by considering it as a combination of the specific basis functions, and an adaptive method is used to estimate the unknown weight parameters. The rapid and uncontrollable drainage will cause the mass and the center of mass to change during take-off on the water surface. Meanwhile, the length of the arm of force and the moment of inertia matrix will change unpredictably, and they are considered as the bounded uncertainty of the moment of inertia matrix and the force arm variation. Then, a comprehensive dynamic disturbance term is formed together with the bounded additional disturbances, and a disturbance observer structure in [19] is introduced to estimate it under the assumption that the total disturbance is measurable. The idea of using a disturbance observer to estimate the system disturbances is to introduce feedforward compensation in the process of controller design to improve the control performance of the system, and it is widely used in aircraft control [20,21,22,23,24,25,26,27,28,29]. The input-to-state stability theorem is an effective method to study nonlinear systems with noises and disturbances [30]. This method can obtain the bounded states by suppressing the bounded disturbances; therefore, the stability of the position and attitude control of the HAUQ is analyzed by the input–state stability theorem. Finally, a nonlinear robust control algorithm is proposed consisting of three parts: a nonlinear robust take-off controller for HAUQs, an adaptive control law, and a disturbance observer. The simulation results show the effectiveness of the proposed algorithm.
2. Mathematical Model
2.1. Dynamic Model of Water Surface Take-Off in Body Coordinate System
2.2. Dynamic Model of Water Surface Take-Off in Inertial Coordinate System
3. Nonlinear Robust Control Laws
3.1. Control Model of Water Surface Take-Off
3.2. Robust Adaptive Position Controller Water–Air Crossing
3.3. Nonlinear Attitude Controller Based on Disturbance Observer
4. Simulation Results
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Liao, F.; Ye, D. Disturbance Observer-Based Robust Take-Off Control for a Semi-Submersible Permeable Slender Hybrid Unmanned Aerial Underwater Quadrotor. Appl. Sci. 2023, 13, 9318. https://doi.org/10.3390/app13169318
Liao F, Ye D. Disturbance Observer-Based Robust Take-Off Control for a Semi-Submersible Permeable Slender Hybrid Unmanned Aerial Underwater Quadrotor. Applied Sciences. 2023; 13(16):9318. https://doi.org/10.3390/app13169318
Chicago/Turabian StyleLiao, Fei, and Dezhang Ye. 2023. "Disturbance Observer-Based Robust Take-Off Control for a Semi-Submersible Permeable Slender Hybrid Unmanned Aerial Underwater Quadrotor" Applied Sciences 13, no. 16: 9318. https://doi.org/10.3390/app13169318
APA StyleLiao, F., & Ye, D. (2023). Disturbance Observer-Based Robust Take-Off Control for a Semi-Submersible Permeable Slender Hybrid Unmanned Aerial Underwater Quadrotor. Applied Sciences, 13(16), 9318. https://doi.org/10.3390/app13169318