Abstract
Hybrid aerial underwater vehicles (HAUVs) have shown broad development prospects for rapid emergency response and marine scientific observation at the sea–air interface in recent decades. The trans-media motion control problem of HAUV is a special and critical problem in the HAUV field. This paper extracts the key factors of HAUV trans-media motion control: the significant changes in dynamic input saturation of the actuator and hydrodynamic force on the HAUV body during the trans-media process. In response to the issue, this paper firstly established a HAUV trans-media motion model considering actuator dynamic input saturation based on the measured HAUV trans-media test data. Then, this paper developed a control strategy for the priority attitude angle and rear heave during the trans-media process of multi-rotor HAUV, and designed a trans-media motion control algorithm that considers actuator dynamic input saturation and model uncertainty. The stability of the control algorithm was proven through Lyapunov stability theory. Finally, this paper conducted simulation verification on the designed control algorithm, and the results showed that compared with the traditional sliding mode control algorithm, this control algorithm had a significant improvement in the performance of trans-media speed control. The speed overshoot of the traditional sliding mode control algorithm was 4.25 times that of the control algorithm proposed in this paper.