The Controller Design of the Water-Aerial Vehicle Based on Variable Gain PID
作者单位：School of Information EngineeringZhenjiang Vocational Technical College School of Electronics and InformationJiangsu University of Science and Technology School of Electrical and Information EngineeringJiangsu University
会议名称：《第32届中国控制与决策会议》
会议届次：32
主办单位：IEEE Control Systems Society (CSS);Northeastern University;State Key Laboratory of Synthetical Automation for Process Industries;Technical Committee on Control Theory, Chinese Association of Automation
会议日期：2020年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
基 金：Natural Science Foundation of Jiangsu Province, (BK20180988) Natural Science Research of Jiangsu Higher Education Institutions of China
关 键 词：Aerial-water Vehicle Control Law Variable Gain PID
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 *** 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 *** 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 *** simulation results show that the proposed control method is feasible and meets the requirements of the water-air amphibious vehicle.