TY - GEN
T1 - Flight Path Optimization and Control of Morphing Cross-Domain Unmanned Vehicle for Entering Water
AU - Qin, C.
AU - Liu, J.
AU - Shan, J.
AU - Wang, J.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In order to realize transition flight from air to water, trajectory optimization and tracking problem is investigated for morphing cross-domain unmanned vehicle (MCDUV). To satisfy the stealth and water entry requirement, terminal velocity, sink rate, terminal attitude, flight altitude boundary, and shape configuration constraints are considered to generate nominal optimized trajectories based on Radau pseudo spectrum method. To fast and precisely track the nominal trajectory of MCDUV under model uncertainties, a reliable trajectory tracking control framework incorporating control contraction metric (CCM) is designed. Finally, the nonlinear numerical simulation is conducted to veri fy the proposed method. The simulation results demonstrate that the flight trajectory and states of MCDUV realized by using the designed controller under various model uncertainties can meet the water entry requirement.
AB - In order to realize transition flight from air to water, trajectory optimization and tracking problem is investigated for morphing cross-domain unmanned vehicle (MCDUV). To satisfy the stealth and water entry requirement, terminal velocity, sink rate, terminal attitude, flight altitude boundary, and shape configuration constraints are considered to generate nominal optimized trajectories based on Radau pseudo spectrum method. To fast and precisely track the nominal trajectory of MCDUV under model uncertainties, a reliable trajectory tracking control framework incorporating control contraction metric (CCM) is designed. Finally, the nonlinear numerical simulation is conducted to veri fy the proposed method. The simulation results demonstrate that the flight trajectory and states of MCDUV realized by using the designed controller under various model uncertainties can meet the water entry requirement.
UR - http://www.scopus.com/inward/record.url?scp=85177449410&partnerID=8YFLogxK
U2 - 10.1109/CoDIT58514.2023.10284198
DO - 10.1109/CoDIT58514.2023.10284198
M3 - Conference contribution
AN - SCOPUS:85177449410
T3 - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
SP - 1120
EP - 1125
BT - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Control, Decision and Information Technologies, CoDIT 2023
Y2 - 3 July 2023 through 6 July 2023
ER -