Comprehensive Design and Analysis of Land-Air Amphibious Vehicle with Tilted Fuselage for Improved Yaw Performance

In recent years., land-air amphibious vehicles (LAV) have attracted widespread attention from both industry and academia. Stability control in complex environments has become one of the most significant challenges in the application of LAVs. In this paper., we propose a ducted-fan LAV with a tilted fuselage angle to enhance yaw attitude performance under disturbances. Firstly., a comprehensive dynamic model with turbulent wind field model is established for the flight system. A global sensitivity analysis (GSA) method based on the Monte Carlo algorithm is utilized to determine the prominent negative correlation between the fuselage tilt angle and the yaw error. Secondly., the frequency domain analysis is applied to determine the robustness of the system., and the appropriate fuselage tilt angle conforming to the characteristics of the proposed LAV is obtained. Finally., time domain simulations show that the yaw tracking error is reduced by 50.73% under wind disturbance and parametric perturbation. Besides., the yaw control quantity and the risk of control input saturation are significantly decreased. The comprehensive analysis and experimental verification in this paper reveal the mechanism of increasing yaw torque through the design of a tilted fuselage., thereby providing guidelines for designing a more effective LAV.