跨介质固定翼无人航行器具有广阔的应用场景，但其跨介质特性导致研究与设计具有很大的挑战和难度，水面起飞及姿态控制是其中一个关键。提出了基于串级模糊比例-积分-微分（proportion-integration-differentiation, PID）的起飞及姿态控制系统，根据各姿态角数据建立关于襟翼、尾翼、水翼等控制元件的系统模型，利用Simulink仿真平台针对不同原件设计与仿真控制器，并与传统PID控制器进行比较。实验表明，串级模糊PID可以快速、稳定、可靠地矫正无人机姿态，飞行实验分析同样证明了串级模糊PID控制器模型的有效性。

Cross medium fixed wing unmanned aerial vehicles have a wide range of application scenarios, but their cross medium characteristics pose great challenges and difficulties in research and design, with surface takeoff and attitude control being one of the key factors. A takeoff and attitude control system based on cascade fuzzy proportional integration differentiation (PID) was proposed. System models of control components such as flaps, tail fins, and hydrofoils were established based on various attitude angle data. Simulink simulation platform was used to design and simulate controllers for different components, and compared with traditional PID controllers. The experiment shows that cascade fuzzy PID can correct UAV attitude quickly, stably and reliably, and the flight experiment analysis also proves the effectiveness of cascade fuzzy PID controller model.