This paper presents an improved motion controller based on the backstepping method to address nonlinear control challenges in unmanned aerial–aquatic vehicles (UAAVs), enabling them to navigate between two different media. The nonlinear control approach is applied to UAAV motion control, incorporating filters to improve stability. The study designs motion controllers for three UAAV phases: underwater, in the air, and transitioning between media. Fluid simulations of the emergence process of the UAAV for future field experiments were conducted. By fine-tuning the simulations, a comprehensive understanding of the vehicle’s performance is obtained, offering crucial insights for the development of subsequent control systems. Simulation results confirm the controller’s ability to achieve target trajectory tracking with control system responses that meet practical requirements. The controller’s performance in attitude control and trajectory tracking is verified in underwater gliding, transmedia transitions, and airborne phases, demonstrating its effectiveness.

This article explores trajectory-following control for an unmanned aerial–aquatic vehicle (UAAV) navigating complex ocean disturbances and the interplay of air–seawater coupling factors. First, leveraging the backstepping technology, an adaptive algorithm is proposed to tackle the attitude and position following. Additionally, a nonlinear observer is crafted to estimate complex ocean disturbances. The UAAV model, characterized by six degrees of freedom (DOF) and nonlinear properties, experiences significant pose changes when emerging from water, underscoring the critical importance of precise pose control. Finally, stability analysis and numerical simulations are demonstrated to verify the feasibility and validity of the proposed control strategies.