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

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

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 of hydrodynamic factors when moving underwater, so the attitud...

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Bibliographic Details
Main Authors: Mingqing Lu, Wei Yang, Fei Liao, Shichong Wu, Yumin Su, Wenhua Wu
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Applied Sciences
Subjects:
cross-domain tracking control
hybrid aerial–underwater vehicle
quaternion modeling
sliding mode control
PD control
adaptive algorithm
Online Access:https://www.mdpi.com/2076-3417/15/2/703
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