Control Technologies of Deformable Air-Land Amphibious Vehicle Flight System

A deformable air-land amphibious vehicle suitable for complex urban terrain was designed, and its flight control method of area transfer was researched. The flight system structural model and dynamic model of the vehicle are established. Aiming at the problem of system parameter uncertainty caused by the deformation and trajectory tracking with the landing point change, the model reference adaptive compensator based on LQR attitude controller and PID height controller is added to solve it. Finally, the Matlab&Adams co-simulation is used to obtain the limit value of the deformation angle for area transformation. The efficiency of the control method is verified and the vehicle can track the desired trajectory.