This paper proposes a method for analyzing a series of potential motions in a coupling-tiltable aerial-aquatic quadrotor based on its nonlinear dynamics. Some characteristics and constraints derived by this method are specified as Singular Thrust Tilt Angles (STTAs), utilizing to generate motions including planar motions. A switch-based control scheme addresses issues of control direction uncertainty inherent to the mechanical structure by incorporating a saturated Nussbaum function. A high-fidelity simulation environment incorporating a comprehensive hydrodynamic model is built based on a Hardware-In-The-Loop (HITL) setup with Gazebo and a flight control board. The experiments validate the effectiveness of the absolute and quasi planar motions, which cannot be achieved by conventional quadrotors, and demonstrate stable performance when the pitch or roll angle is activated in the auxiliary control channel.

翻译：本文提出了一种基于非线性动力学分析耦合倾转空中-水下四旋翼潜在运动系列的方法。该方法推导出的特性和约束条件被定义为奇异推力倾角（STTA），用于生成包括平面运动在内的多种运动。针对机械结构固有的控制方向不确定性，提出了一种基于开关的控制方案，通过引入饱和Nussbaum函数解决了该问题。基于硬件在环（HITL）实验平台（包含Gazebo仿真环境和飞行控制板），构建了集成综合水动力学模型的高保真仿真环境。实验验证了传统四旋翼无法实现的绝对运动和准平面运动有效性，并展示了在辅助控制通道激活俯仰或横滚角时的稳定性能。