First Principle Modeling of a Morphable Unmanned Aerial-Aquatic Vehicle: Mirs-Alioth

This paper establishes a hybrid system model for a morphable unmanned aerial-aquatic vehicle (UAAV), named Mirs-Alioth, incorporating hydrodynamic parameters through the first principle. Unlike other current UAAVs, variable thrust tilt angles make Mirs-Alioth's model mutable. Thus, this paper directly employs geometric features of the vehicle, integrating a morphing model into a comprehensive dynamics of the vehicle and switching models between different media triggered by depth. The comprehensive model parameters including the rigid body part and the hydrodynamic part is then identified through experiments and computational fluid dynamic (CFD) methods.