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<p>This paper addresses the waypoint-following control problem of a fixed-wing hybrid aerial underwater vehicle (FHAUVs) subject to external disturbances and model uncertainties. The FHAUV operates across aerial and underwater domains, where the density difference between water and air induces dynamic variations, making waypoint following with a single unified controller challenging. The study represents the aerial, transition, and underwater operating regions within a unified model structure by treating fluid-dynamic terms over the entire operating domain as uncertain dynamics. The waypoint-following problem is reformulated as an inner-loop velocity tracking problem for the desired velocities, and a barrier function-based adaptive sliding mode control method is employed to handle model uncertainties and external disturbances. The Lyapunov analysis confirms that the sliding variables converge the interior of the prescribed barrier in finite time and remains therein. Furthermore, it is proved that the velocity tracking errors and internal states are uniformly ultimately bounded. Finally, simulations are conducted to verify the waypoint-following performance of the proposed controller.</p>

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Design of Barrier Function-Based Sliding Mode Controller for Hybrid Aerial Underwater Unmanned Vehicles with Model Uncertainty and Disturbance

  • 期刊论文

  • 发表日期：

    2026年6月30日

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  • Hoon Hee Lee,
  • Dowan Kim

摘要

This paper addresses the waypoint-following control problem of a fixed-wing hybrid aerial underwater vehicle (FHAUVs) subject to external disturbances and model uncertainties. The FHAUV operates across aerial and underwater domains, where the density difference between water and air induces dynamic variations, making waypoint following with a single unified controller challenging. The study represents the aerial, transition, and underwater operating regions within a unified model structure by treating fluid-dynamic terms over the entire operating domain as uncertain dynamics. The waypoint-following problem is reformulated as an inner-loop velocity tracking problem for the desired velocities, and a barrier function-based adaptive sliding mode control method is employed to handle model uncertainties and external disturbances. The Lyapunov analysis confirms that the sliding variables converge the interior of the prescribed barrier in finite time and remains therein. Furthermore, it is proved that the velocity tracking errors and internal states are uniformly ultimately bounded. Finally, simulations are conducted to verify the waypoint-following performance of the proposed controller.