Adaptive WNN Finite-Time Coaxial HAUV Cross-Domain Tracking Control with Multi-Ocean Interference

This study develops a novel control system for coaxial hybrid aerial-underwater vehicles (HAUVs) that effectively addresses air-water cross-domain transition challenges in dynamic marine environments. Firstly, a six-degree-of-freedom continuous dynamic model for water-air transition is established to achieve a smooth transition across media. A control strategy that integrates approach combining wavelet neural networks (WNNs) with finite-time terminal sliding mode control (TSMC) is proposed, featuring three key innovations: (1) The cross-domain tracking error achieves finite-time convergence, (2) WNN-based online uncertainty estimation without requiring precise system parameters, and (3) adaptive algorithm ensuring robustness and chattering suppression. The controller's stability and finite-time convergence are rigorously proven using Lyapunov theory. Simulation results demonstrate superior performance in trajectory tracking and disturbance rejection.