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This paper proposes a method for analyzing a series of potential motions in acoupling-tiltable aerial-aquatic quadrotor based on its nonlinear dynamics.Some characteristics and constraints derived by this method are specified asSingular Thrust Tilt Angles (STTAs), utilizing to generate motions includingplanar motions. A switch-based control scheme addresses issues of controldirection uncertainty inherent to the mechanical structure by incorporating asaturated Nussbaum function. A high-fidelity simulation environmentincorporating a comprehensive hydrodynamic model is built based on aHardware-In-The-Loop (HITL) setup with Gazebo and a flight control board. Theexperiments validate the effectiveness of the absolute and quasi planarmotions, which cannot be achieved by conventional quadrotors, and demonstratestable performance when the pitch or roll angle is activated in the auxiliarycontrol channel.

Underwater motions analysis and control of a coupling-tiltable unmanned aerial-aquatic quadrotor