Puffin Platform: A Morphable Unmanned Aerial/Underwater Vehicle With Eight Propellers

被引：0

作者：

Rao, Hongxia ^{[1
]}

Xie, Lijie ^{[1
]}

Yang, Jiapeng ^{[1
]}

Xu, Yong ^{[1
]}

Lv, Weijun ^{[1
]}

Zheng, Zongkai ^{[2
]}

Deng, Yihui ^{[3
]}

Guo, Haotian ^{[1
]}

机构：

[1] Guangdong Univ Technol, Sch Automat, Guangdong Prov Key Lab Intelligent Decis & Coopera, Guangzhou 510006, Peoples R China

[2] Harbin Inst Technol, Dept Mech Engn & Automat, Shenzhen 518055, Peoples R China

[3] Univ Elect Sci & Technol China, Dept Elect Informat Engn, Chengdu 611731, Sichuan, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2024年 / 71卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Rotors; Torque; Autonomous aerial vehicles; Carbon; Propellers; Electron tubes; Attitude control; motion control; unmanned aerial vehicles (UAVs); AERIAL;

D O I：

10.1109/TIE.2023.3310025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a morphable unmanned aerial/underwater vehicle with eight propellers named Puffin platform is investigated. To improve the efficiency of rotor utilization underwater, a tilting mechanism is designed, where the direction of rotors can be changed. As tilting the rotors causes severe underactuation of the vehicle, an attitude control method is proposed. In addition, an adaptive controller is designed for trajectory tracking, and the stability analysis is analyzed by the Lyapunov-like lemma. Simulations are then used to verify the performance of the control strategy. Finally, we assemble the Puffin platform and conduct preliminary experiments to demonstrate its performance in the air, underwater, and during transition.

引用

页码：7621 / 7630

页数：10

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