Quaternion-Based Fast SMC–PD Cross-Domain Tracking Control for Coaxial Hybrid Aerial–Underwater Vehicle Under Oceanic Disturbances

• DOI: 10.3390/app15020703
• Publication Date: 2025-01-13T12:40:08Z
• Authors: Mingqing Lu; Wei Yang; Fei Liao; Shichong Wu; Yumin Su; Wenhua Wu
• Keywords: Robustness; Tracking error

In this study, nonsingular modeling and cross-domain trajectory tracking control problems for a special class of coaxial hybrid aerial–underwater vehicles (HAUVs) are investigated. Coaxial HAUVs need to effectively overcome the influence hydrodynamic factors when moving underwater, so attitude angle required by is much larger than that in air. The representation based on quaternion adopted avoid inherent singularity Euler modeling. A cascade sliding mode proportion differentiation (SMC-PD) controller proposed, which used position control, respectively. An adaptive disturbance observer (DO) enhancement outer loop carry control. At same time, expected calculated (position) converted into quaternion. With reference idea enhanced robustness active rejection (ADRC), feedforward derivation (PD) DO track desired variable parameter algorithm learning rate introduced cascaded SMC-PD controller. error convergence speed system further improved adaptively changing parameters. stability proposed scheme proved using Lyapunov theory. numerical simulation results show has good effectiveness.