A high maneuvering motion strategy and stable control method for tandem twin-rotor aerial-aquatic vehicles near the water surface  

作　　者：Sifan Wu Maosen Shao Sihuan Wu Zhilin He Hui Wang Jinxiu Zhang Yuan Liu 

机构地区：[1]School of Aeronautics and Astronautics,Sun Yat-sen University,Shenzhen,518107,China [2]Southern Marine Science and Engineering Guangdong Laboratory,Zhuhai,519000,China

出　　处：《Defence Technology(防务技术)》2025年第2期206-220,共15页Defence Technology

基　　金：supported by Southern Marine Science and Guangdong Laboratory(Zhuhai)(Grant No.SML2023SP229)。

摘　　要：The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.

关 键 词：Tandem twin-rotor Aerial-aquatic vehicle High maneuvering motion strategy Active disturbance rejection controller Skipping on water surface 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] U674.77[交通运输工程—船舶及航道工程] U664.82[交通运输工程—船舶与海洋工程]