| Citation: | WU Jiang, CHEN Enmin, GAO Yijie, et al. Design of underwater-launched controller for small rotor UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 213-222. doi: 10.13700/j.bh.1001-5965.2020.0281(in Chinese)
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The attitude stability of the underwater-launched small rotor UAV directly affects the result of the entire submarine launch task. Aimed at the problems that the rotor UAV's attitude is difficult to adjust quickly during the launching period, and the initial launch attitude is easily interfered by ocean waves, a novel control scheme for the UAV underwater-launched system is proposed. Meanwhile, this paper specifically uses a booster rocket with a vector control engine to adjust the attitude of the UAV in the launch period, and optimize the UAV launch time by the ocean waves' attitude prediction model. Aimed at the problem of the unstable attitude of the rotor UAV when the rotor unfolds after the launch, the attitude control law based on the L1 adaptive method is designed for stability augmentation. Simulation results show that the vector control engine of the booster rocket can quickly adjust the pitch attitude of the UAV within 2 s. The designed L1 adaptive attitude control law can complete the stable control of the pitch attitude within 2 s when the rotor unfolds, and has robustness to the uncertain changes of aerodynamic parameters in the submarine launch.
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