Flight Path Optimization and Control of Morphing Cross-Domain Unmanned Vehicle for Entering Water

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.