Yucheng Zhao, Feng Zhang, Junyu Zhang, Meiyi Wang, and Bo Jin
HUAUV, mode transition, antisaturation control, trajectory tracking
Hybrid unmanned aerial underwater vehicle (HUAUV) fills the gap in air–sea interface exploration. This study introduced a new HUAUV platform that features a tilting quadrotor with a foldable fixed wing, which can operate in both quadrotor and fixed-wing modes during aerial flight. This study focused on the antisaturation control (AC) during mode conversion process and proposed an aerial trajectory tracking control method based on direct robust control theory. An AC algorithm based on graphical analysis was designed to realise proportional scaling of the power force to address the issue of control allocation of four tilting propellers with speed saturation. The controller based on direct robust control theory is designed and the robustness is analysed with AC algorithm. The feasibility of the controller and the effectiveness of the AC algorithm were verified via trajectory tracking simulation.
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