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The Controller Design of the Water-Aerial Vehicle Based on Variable Gain PID

Liu huanxiao  Meng Zihan  Yang Xiaofei  Ding Shihong  
【摘要】:Combining the advantages of unmanned aerial vehicle(UAV) and unmanned surface vehicle(USV),water-aerial vehicles satisfy the requirements of operation in water-air amphibious environment.Due to the medium characteristics of air and water are different,it is difficult to maintain stability of the amphibious vehicle in the operation stage of transition.In order to solve this problem,the mathematical models of the amphibious vehicle are established in different motion stages,and one stability controller is designed based on the variable gain PID.The simulation results show that the proposed control method is feasible and meets the requirements of the water-air amphibious vehicle.

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