Cross-media control and parameter tuning for water-air amphibious multi-rotor vehicle

In this paper, the cross-media control of the water-air amphibious multi-rotor vehicle is studied, and the ADRC method is proposed to build a controller for the water-air amphibious multi-rotor vehicle. Firstly, this paper establishes the cross-media dynamics and kinematics model of water-air amphibious multi-rotor vehicle and proposes a step-by-step vertical cross-media model. Based on this, a string-level controller is built using ADRC, and further, a particle swarm algorithm is introduced for controller parameter tuning. A comparison of the control effect with conventional PID and sliding mode controller (SMC) shows that:The introduction of particle swarm algorithm for controller parameter tuning can effectively improve the control performance, and the proposed string-level ADRC control strategy has stronger real-time and anti-interference capability.