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Coupling-Tiltable Unmanned Aerial-Aquatic Vehicles (UAAVs) have gainedincreasing importance, yet lack comprehensive analysis and suitablecontrollers. This paper analyzes the underwater motion characteristics of aself-designed UAAV, Mirs-Alioth, and designs a controller for it. Theeffectiveness of the controller is validated through experiments. Thesingularities of Mirs-Alioth are derived as Singular Thrust Tilt Angle (STTA),which serve as an essential tool for an analysis of its underwater motioncharacteristics. The analysis reveals several key factors for designing thecontroller. These include the need for logic switching, using a Nussbaumfunction to compensate control direction uncertainty in the auxiliary channel,and employing an auxiliary controller to mitigate coupling effects. Based onthese key points, a control scheme is designed. It consists of a controllerthat regulates the thrust tilt angle to the singular value, an auxiliarycontroller incorporating a Saturated Nussbaum function, and a logic switch.Eventually, two sets of experiments are conducted to validate the effectivenessof the controller and demonstrate the necessity of the Nussbaum function.

Underwater Motions Analysis and Control of a Coupling-Tiltable Unmanned Aerial-Aquatic Vehicle