The "Nezha" series of Air-Surface-Underwater cross-domain unmanned vehicles have significant application prospects in marine environmental element observation, identification, cross-domain communication relay, and emergency search and rescue. The latest "Nezha IV" developed in 2022, completed the full-process test of air-surface-underwater cross-domain navigation in a real marine environment, successfully achieving multiple cross-domain movements under sea state 2, with a maximum diving depth of 100 meters and an effective payload of 7kg.

Aiming at the fact that the single motion mode of traditional underwater platforms cannot meet the needs of comprehensive marine observation, this new type of marine mobile observation platform has been developed by integrating the working modes of Argo, Glider and AUV, enabling it to perform long-term large/medium-scale navigation, and autonomous fine-scale observation, thus achieving multi-scale, diverse, and continuous marine observation. By integrating submersible control technology, the development of a new marine sediment mobile sampling and seabed adaptive sampling platform was carried out. In particular, for parameters that cannot be accurately obtained or are perturbed during the design, manufacturing, operation, and practical application of new carriers, a model-free adaptive robust controller was designed to simultaneously address the negative control effects caused by the time-delay characteristics of actuators during high-order differentiation.