Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control
The variation in aerodynamic parameters during the process of a variable sweepback hybrid aerial underwater vehicle (HAUV) affects flight stability. During the air–water trans-media locomotion, there are medium mutations and solid–liquid gas coupling phenomena, resulting in the complex dynamic proce...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/18/10201 |
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| author | Beibei Xing Zhaoyu Wei Mingqing Lu Fei Liao |
| author_facet | Beibei Xing Zhaoyu Wei Mingqing Lu Fei Liao |
| author_sort | Beibei Xing |
| collection | DOAJ |
| description | The variation in aerodynamic parameters during the process of a variable sweepback hybrid aerial underwater vehicle (HAUV) affects flight stability. During the air–water trans-media locomotion, there are medium mutations and solid–liquid gas coupling phenomena, resulting in the complex dynamic process of HAUV. To ensure stable control during the trans-media process of a variable sweepback vehicle, this study proposes a neural-network-based adaptive dynamic surface control method for aircraft flight-path angle. This method aims to establish an effective control model for the entire process of air to media transition, in response to the characteristics of uncertainty and external disturbances in the process of variable backsweeping in the air and media transition. By utilizing the multibody dynamics method, the dynamic equations for variable-swept vehicles are established and transformed into a rigorous feedback system with model uncertainty. The adaptive dynamic surface method in this paper introduces a first-order filter, which overcomes the “differential explosion” problem in traditional backstepping control design through differential filtering; the unknown parameters present in the model are estimated online through adaptive laws, and the uncertain parts of the system are overcome through nonlinear damping items. By analyzing Lyapunov stability, the semi-global stability of the required closed-loop system can be obtained, and adjusting the controller parameters can make the tracking error infinitely small. Numerical simulations are conducted to illustrate the tracking control of flight-path angles for different plunge-diving angle rates and strategy of ingress. The results show that HAUV with variable-swept configuration with different strategy has a great effect on the stability of plunge-diving locomotion; the designed controller can effectively track the target trajectory and has a certain degree of robustness and adaptability. |
| first_indexed | 2024-03-10T23:04:47Z |
| format | Article |
| id | doaj.art-0abb7e60e052407f8bfc8a24f8b317ce |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T23:04:47Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-0abb7e60e052407f8bfc8a24f8b317ce2023-11-19T09:24:23ZengMDPI AGApplied Sciences2076-34172023-09-0113181020110.3390/app131810201Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface ControlBeibei Xing0Zhaoyu Wei1Mingqing Lu2Fei Liao3School of Oceanography, Shanghai Jiaotong University, Shanghai 200240, ChinaSchool of Oceanography, Shanghai Jiaotong University, Shanghai 200240, ChinaCross-Media Vehicle Research Center, China Aerodynamics Research and Development Center, Mianyang 621000, ChinaCross-Media Vehicle Research Center, China Aerodynamics Research and Development Center, Mianyang 621000, ChinaThe variation in aerodynamic parameters during the process of a variable sweepback hybrid aerial underwater vehicle (HAUV) affects flight stability. During the air–water trans-media locomotion, there are medium mutations and solid–liquid gas coupling phenomena, resulting in the complex dynamic process of HAUV. To ensure stable control during the trans-media process of a variable sweepback vehicle, this study proposes a neural-network-based adaptive dynamic surface control method for aircraft flight-path angle. This method aims to establish an effective control model for the entire process of air to media transition, in response to the characteristics of uncertainty and external disturbances in the process of variable backsweeping in the air and media transition. By utilizing the multibody dynamics method, the dynamic equations for variable-swept vehicles are established and transformed into a rigorous feedback system with model uncertainty. The adaptive dynamic surface method in this paper introduces a first-order filter, which overcomes the “differential explosion” problem in traditional backstepping control design through differential filtering; the unknown parameters present in the model are estimated online through adaptive laws, and the uncertain parts of the system are overcome through nonlinear damping items. By analyzing Lyapunov stability, the semi-global stability of the required closed-loop system can be obtained, and adjusting the controller parameters can make the tracking error infinitely small. Numerical simulations are conducted to illustrate the tracking control of flight-path angles for different plunge-diving angle rates and strategy of ingress. The results show that HAUV with variable-swept configuration with different strategy has a great effect on the stability of plunge-diving locomotion; the designed controller can effectively track the target trajectory and has a certain degree of robustness and adaptability.https://www.mdpi.com/2076-3417/13/18/10201hybrid aerial underwater vehicleplunge-diving locomotionvariable-swept wingadaptive dynamic surface controlRBF neural network |
| spellingShingle | Beibei Xing Zhaoyu Wei Mingqing Lu Fei Liao Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control Applied Sciences hybrid aerial underwater vehicle plunge-diving locomotion variable-swept wing adaptive dynamic surface control RBF neural network |
| title | Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control |
| title_full | Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control |
| title_fullStr | Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control |
| title_full_unstemmed | Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control |
| title_short | Research on Variable-Swept Hybrid Aerial Underwater Vehicle Plunge-Diving Control Based on Adaptive Dynamic Surface Control |
| title_sort | research on variable swept hybrid aerial underwater vehicle plunge diving control based on adaptive dynamic surface control |
| topic | hybrid aerial underwater vehicle plunge-diving locomotion variable-swept wing adaptive dynamic surface control RBF neural network |
| url | https://www.mdpi.com/2076-3417/13/18/10201 |
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