Modeling and control of a low-cost multirotor hybrid aerial underwater vehicle

TL;DR

This paper develops a comprehensive modeling and control framework for a low-cost hybrid aerial-aquatic vehicle capable of seamless transitions between air and water, validated through experiments demonstrating precise control and adaptability.

Contribution

It introduces a hybrid dynamics model and a hierarchical control strategy tailored for low-cost multirotor hybrid vehicles, enabling effective air-water transition control.

Findings

Achieved steady-state height errors below 0.1 m.

Maintained attitude fluctuations under 5 degrees during water crossings.

Validated the approach with experimental tests on a modified quadrotor.

Abstract

This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct hydrodynamic and aerodynamic forces across three operational zones: aerial, aquatic, and transitional hybrid regions. The model incorporates variable buoyancy, added mass effects, and fluid resistance, with thrust characteristics of submerged propellers analyzed through computational fluid dynamics (CFD) simulations. A hierarchical control strategy is developed, combining twisting sliding mode control (TWSMC) for robust attitude stabilization during medium transitions with cascade PID controllers for precise motion tracking in homogeneous media. Experimental validation using a modified FPV quadrotor prototype demonstrates the effectiveness of the approach, achieving steady-state height errors below 0.1 m and attitude fluctuations under 5{\deg} during repeated water-crossing maneuvers. The results highlight the system's adaptability to fluid medium variations while maintaining cost-effectiveness and operational simplicity.