Research on the Diving Process of Trans-Media Aerial Underwater Vehicle

Trans-media aerial underwater vehicle (TMAUV) is a novel vehicle which is capable of locomotion in both air and water. In this paper, we address the morphing diving process of TMAUV which is ahead of entering into water. Dynamics of open loop diving is analyzed without considering morphing. The unique equilibrium is verified to be global asymptotic stability (GAS) in the domain of definition. Advises for designing TMAUV are concluded.