This paper presents a nonsingular terminal sliding mode and active disturbance rejection decoupling control (NTSM-ADRDC) scheme for the three-dimensional (3D) trajectory tracking of autonomous underwater vehicles (AUV). Firstly, AUV model is decoupled into five independent single input–single output (SISO) channels using ADRDC technology. Secondly, NTSM-ADRDC controller designed. The linear extended state observer (LESO) used to observe variables, estimate total system. In addition, improve...

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)...

The performance of an optimized aerodynamic shape is further improved by a second-step optimization using the design knowledge discovered data mining technique based on Proper Orthogonal Decomposition (POD) in present study. Data generated first-step evolution algorithms saved as source data, among which superior with objectives and maintained constraints chosen. Only geometry components are picked out used for constructing snapshots POD. Geometry characteristics illustrated POD bases...

Abstract This study proposes a reinforcement learning‐based finite‐time cross‐media tracking control approach for slender body vehicle encountering unknown hydrodynamics, wind, and wave disturbances. Initially, learning framework consisting of the actor neural network critic is constructed. The monitors actions approximates cost function, while estimates hydrodynamics disturbances, minimising function to optimise performance. Subsequently, command filter featuring convergence formulated,...

In this paper, the problems of system design, dynamic modeling, and trajectory tracking control coaxial hybrid aerial underwater vehicles (HAUVs) with time-varying model parameters composite marine environment disturbances are investigated. It is clear that a stable transition between different media remains challenge in practical implementation amphibious tasks. For HAUVs, accurate modeling to describe complex variations during vehicle takeoff from air huge challenge. Meanwhile, due rapid...

In this paper, an aerodynamic shape optimization platform for compressor blade is introduced. The divided into modules on flow field calculation, method, parameterization and grid deformation. Flow calculation of based computational fluid dynamics (CFD), which used multi-block structure grid. Particle swarm (PSO) built as method module, in cost functions are calculated parallel. parametric 3D decomposed a series characteristic sections the section parameterized by Hicks-Henne function....

In this paper, a Three-Dimension (3-D) trajectory tracking method based on Model Predictive Control (MPC) with Laguerre functions was designed for the Underwater Unmanned Vehicle (UUV) Constraints. Firstly, traditional MPC 3-D of UUV. Then were used in MPC, and optimization multiple control inputs converted into small number coefficients, which can effectively reduce calculation amount algorithm while ensuring dynamic performance. stability analysis Lyapunov proved controller. Finally,...

Global optimization methods are becoming more and important in aerodynamic shape optimization. A large number of proceeding data will be generated during design optimization, from which the implicit but valuable knowledge can extracted. The then used to help designers acquire effects geometric variations on performance changes. In this paper, we strive extract by a mining method based proper orthogonal decomposition (POD), enriched visualized than those obtained other obtained. Proceeding...

In this study, the design of an adaptive neural network-based fixed-time control system for a novel coaxial trans-domain hybrid aerial–underwater vehicle (HAUV) is investigated. A radial basis function network (RBFNN) approximation strategy-based terminal sliding mode (AFTSMC) scheme proposed to solve problems dynamic nonlinearity, model parameter perturbation, and multiple external disturbances HAUV trans-media motion. complete six-degrees-of-freedom continuous water–air cross-domain first...

Abstract The hydrodynamic characteristics of underwater vehicles are significantly affected by the ventilated cavity covered vehicle surface. In this paper, unsteady flow studied using experimental and numerical methods, entrainment behaviour air mass is emphasised. pattern recorded a high-speed camera. large eddy simulation turbulence model employed for simulations, good agreement observed between results. early stage formation mass, internal structure exhibits symmetric kidney vortex...

Visual-based unmanned underwater vehicle (UUV) recovery is popular due to its high speed and positioning accuracy. This paper focuses on the image-based visual servo (IBVS) control for UUV system subject field of view (FOV). A new relative kinetic model presented based image plane features designed path planner with FOA constraints. Moreover, this addresses an IBVS controller stability analyzed. Finally, a numerical example illustrates effectiveness proposed theoretical results evaluate...

This paper presents line-of-sight (LOS) guidance laws based on the sliding mode control (SMC) for a Target aircraft and Defender missile cooperatively combating an Attacker missile. The engagement dynamics of proposed is established in three-dimensional space. Up to now, most previous assumed that rendezvous Target-Attacker-Defender (TAD) occurred plane, which limits actual performance. In order realize LOS space, cooperative two directions are respectively. effectiveness verified by...