Dynamic Modelling and Robust Backstepping Control of Hybrid Unmanned Amphibious Multirotor Robot for Smooth Media Transition in the Presence of Uncertainty

摘要

This paper proposes a robust backstepping control scheme for the autonomous operation of a hybrid unmanned underwater-aerial vehicle while considering uncertainty in the system model. The simplified mathematical model is presented to show the complete control design process. The simulation is performed to show the effectiveness of the proposed control scheme and with comparative analysis with existing PID and conventional backstepping control. The transient behaviour of drone and aerial and underwater maneuvering is simulated using the PID and proposed Robust backstepping algorithm. The transient behaviour of the vehicle is addressed with six possible maneuvers between air and water media. The simulation results are presented and compared to show the superiority of the proposed backstepping control algorithm over the conventional PID control algorithm with gravity compensation. The Performance parameters are also evaluated and presented to show the superiority of the proposed algorithm in aerial as well as underwater maneuvers.