Cross-Media Control of Tilt-Quadrotor Amphibious Vehicle Based on All-Coefficient Adaptive Control

Aiming at the problem that the dynamic nonlinearity of the tilt-quadrotor amphibious vehicle during the cross-media motion is strong and susceptible to external interference, this paper proposes an all-coefficient adaptive control (ACAC) method based on a characteristic model. Firstly, according to the Newton-Euler equation and fluid mechanics analysis, the dynamics and kinematics models of the self-designed tilt-quadrotor amphibious vehicle are established. Secondly, an ACAC controller is designed to address the nonlinear dynamics during cross-media transitions, and the ACAC control system is constructed by employing a dual closed-loop control strategy. Finally, to verify the effectiveness of the proposed control method, the simulation experiments of the tilt-quadrotor amphibious vehicle under strong external interference are conducted, with comparative analysis between the ACAC controller and the conventional proportional-integral-derivative (PID) controller. The results show that, compared with the PID controller, the ACAC controller exhibits stronger adaptability, stability, robustness, and anti-interference ability.