Robust Optimal Control and Trajectory Tracking of an Unmanned Aerial Aquatic Vehicle (UAAV)

Résumé fourni par la source

This research paper is based on robust optimal control and trajectory tracking problem of a submarine launched Unmanned Aerial Aquatic Vehicle (UAAV). Kinematic Model of UAAV is considered with a study of its maneuvering and dynamics. Starting with a 6-DOF non-linear model of an UAAV, its motion is decoupled in longitudinal planes for various phases. An optimal control technique is proposed for underwater launch phase in which input-output feedback linearization is used to cancel system nonlinearities and then optimal control is synthesized by solving ARE. Similarly, an Optimal Sliding Mode Control is proposed for the boost phase. Stability analysis is included to validate the designed controller performance. Results of the designed tracking/guidance and control strategies are presented through the simulations.

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