Modeling and Hybrid Powers Control of Cross-domain Robot on the Water

In this paper a cross-domain robot capable of moving in water, land and air environments is presented. This cross-domain robot combines the functions of quadrotor and paddles and has the ability to perform tasks in multiple environments. The purpose of this paper is to make the cross-domain robot have good control performance during the water sailing process, and a hybrid powers control method is proposed, which will consider both the control output of quadrotor and paddles together as the power source of the robot. A sliding mode controller is designed to cope with the nonlinearity of the cross-domain robot dynamic model and the uncertainty of the model parameters, which is susceptible to external resistance. Aiming at resisting the external disturbance during water surface motion, a disturbance observer is designed and combined with the sliding mode controller in the paper. Simulation results verify that the designed control method enables the cross-domain robot to have a good control effect on water motion control.