Optimized Decoupling Control and Cross-Domain Validation of a V-Shaped Quadrant-Habitat Fan-Wing Vehicle - Optimized for Underwater Operations

Abstract

Multi-habitat robots can operate across diverse environments, yet mainstream platforms still depend on fixed-wing/propeller actuation and “multi-controller–multi-hardware” architectures that hinder lightweight, integrated designs. This paper proposes a fan-wing–centric aquatic cross-habitat scheme: we derive a thrust-mapping model and, via singular value decomposition (SVD), optimize fan-wing orientations to decouple propulsion from attitude; on a unified hardware platform we implement software-switchable, domain-specific closed loops with adaptive thrust allocation. An enhanced QFV prototype is validated across within-water habitats (underwater–surface–near-bottom). With optimized angles (<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\theta _{1}=22.8^{\circ}$</tex-math></inline-formula>, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\theta _{2}=30^{\circ}$</tex-math></inline-formula>), the QFV achieves stable depth holding (RMS <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\approx 0.31\,\mathrm{m}$</tex-math></inline-formula>) and improved attitude control (RMS 123°), whereas an unoptimized configuration becomes unstable—confirming effective decoupling, increased robustness, and reliable cross-habitat transitions. The proposed fan-wing design and SVD-based workflow provide a reusable thrust-mapping/allocation reference for cross-domain robotic systems.