抄録
This paper deals with a new all-round Unmanned Aerial Vehicle (UAV) for Air-Land-Sea. The new UAV is a quadrotor helicopter with two rolling protect-flames, and can not only fly in the air but also move on the ground, the wall, the ceiling and the water. In this paper, firstly, the dynamic equation is presented of the new UAV, which is described by a set of nonlinear equations. Secondly, a useful controller design method based on the input-output linearization is proposed for the position tracking control. The design problem is reduced to that of a linear system, and the design method is simple and straightforward.
