Abstract
A dynamic model of an amphibious uncrewed surface vessel (USV) traversing a beach zone from offshore to onshore, together with a super-twisting speed controller and switching control scheme for transitioning from waterborne to landborne propulsion based on water depth, is presented. Simulations of a two meter, 295 kg amphibious USV traversing a shoreline in the presence of actuator limits and disturbances, suggest that the proposed approach is promising.