Leonardo A. Mozelli

Attitude control for an Hybrid Unmanned Aerial Underwater Vehicle: A robust switched strategy with global stability

This paper presents a method for stabilizing the attitude of a Hybrid Unmanned Aerial Underwater Vehicle. Firstly, we present aerodynamic and hydrodynamic models for the angular motion of our robot, discussing effects like buoyancy force and added inertia. Next, we apply robust control techniques fo…