Water Surface Flight Control of a Cross Domain Robot Based on an Adaptive and Robust Sliding Mode Barrier Control Algorithm

When a cross-domain robot (CDR) flies on the water surface, large pitch angle and roll may lead to flooding into cabin or even overturning. In addition, CDR is influenced by some uncertain parameters external disturbances, such as resistance current. To constrain attitude improve robustness of controller, non-singular terminal sliding mode asymmetric barrier control (NTSMABC) algorithm proposed. All disturbances are regarded lump disturbance, radial basis function neural network (RBFNN) designed compensate for output controllers. Unlike traditional quadrotors, controls yaw paddles when surface. prevent actuator saturation from rolling over due excessive angular velocity, an adaptive integral (AISMBC) proposed velocity directly. This adaptively adjusts gain surface suppress influence disturbance robot. Another RBFNN controller. Simulation results demonstrate effectiveness methods.