Fixed-Point Hovering Control for Tandem Twin-Rotor Aerial-Aquatic Vehicle Using Wind Direction Adaptive Adjustment Strategy

Amphibious trans-media aerial-aquatic vehicles (AAVs) harbor substantial potential in marine applications. This study addresses the vulnerability of slender-body AAVs to crosswind interference during hovering, proposing an active disturbance rejection control strategy (ADRC_RA) to reduce the projected area. It can improve positioning precision and lower energy consumption. This research establishes a streamlined and slender AAV mathematical model and analyzes its control constraints. A projection area reduction strategy is then designed to adjust the attitude. The angle estimation process integrates the aircraft's inherent characteristics with interference estimation via an Extended State Observer (ESO). The results demonstrate that, in most cases, the ADRC_RA method reduces position deviation by a factor of three compared to methods that do not reduce the projected area and reduce energy consumption for interference mitigation by two-thirds. The results confirm the effectiveness and robustness of ADRC_RA in improving positioning precision and reducing energy consumption.