This paper considers the attitude control problem of a new class of aerial and underwater vehicles with quadrotor structures. A novel single-input FUZZY P+ID attitude controller is proposed to improve the trans-media performance of the aerial and underwater vehicle. The proposed FUZZY P+ID controller has a unique feature to deal with the nonlinear uncertainties using a set of fuzzy rules from experts. Furthermore, the single-input structure of the fuzzy control allows for fast computation with the help of the signed distance method, which avoids using lengthy look-up tables. Numerical simulations show that the proposed single-input FUZZY P+ID controller offers superior performance to the conventional PID controller. The fully operational experiments demonstrated the robustness of the proposed controller for unmeasurable disturbances, such as the buoyancy and the drag force.

本文考虑了新型四旋翼飞行器和水下飞行器的姿态控制问题。提出了一种新颖的单输入FUZZY P + ID姿态控制器，以提高航空和水下飞行器的跨媒体性能。所提出的FUZZY P + ID控制器具有独特的功能，可以使用一组来自专家的模糊规则来处理非线性不确定性。此外，模糊控制的单输入结构允许在有符号距离方法的帮助下进行快速计算，从而避免使用冗长的查找表。数值仿真表明，所提出的单输入FUZZY P + ID控制器具有优于传统PID控制器的性能。全面运行的实验证明了所提出的控制器在无法测量的干扰下的鲁棒性，