傾斜可能な空水両用ドローンの水中運動解析と制御
Underwater Motions Analysis and Control of a Coupling-Tiltable Unmanned Aerial-Aquatic Vehicle
傾斜機構を持つ空水両用機の特異点を導出し、Nussbaum関数と補助制御器を組み合わせた制御系を設計、実験で有効性を検証した。
著者: Dongyue Huang, Minghao Dou, Xuchen Liu, Tao Sun, Jianguo Zhang, Ning Ding, Xinlei Chen, Ben M. Chen
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Coupling-Tiltable Unmanned Aerial-Aquatic Vehicles (UAAVs) have gained increasing importance, yet lack comprehensive analysis and suitable controllers. This paper analyzes the underwater motion characteristics of a self-designed UAAV, Mirs-Alioth, and designs a controller for it. The effectiveness of the controller is validated through experiments. The singularities of Mirs-Alioth are derived as Singular Thrust Tilt Angle (STTA), which serve as an essential tool for an analysis of its underwater motion characteristics. The analysis reveals several key factors for designing the controller. These include the need for logic switching, using a Nussbaum function to compensate control direction uncertainty in the auxiliary channel, and employing an auxiliary controller to mitigate coupling effects. Based on these key points, a control scheme is designed. It consists of a controller that regulates the thrust tilt angle to the singular value, an auxiliary controller incorporating a Saturated Nussbaum function, and a logic switch. Eventually, two sets of experiments are conducted to validate the effectiveness of the controller and demonstrate the necessity of the Nussbaum function.
