The invention belongs to the technical field of underwater vehicles, and discloses a long-endurance underwater vehicle and a control method thereof, and the long-endurance underwater vehicle comprises a bulbous bow cabin, a front ballast tank, a front air bag cabin, a main control cabin, a rear air bag cabin, a rear ballast tank and a stern cabin. The underwater vehicle is driven by a fuel cell-motor, the energy storage efficiency of the fuel cell is high, the energy density is large, the working stroke can be improved, high-temperature reaction water generated when the fuel cell works serves as a heat source, the buoyancy state of a boat body is adjusted with low energy consumption in cooperation with front and rear air bag devices, and gliding wings with adjustable attack angles are arranged on the two sides. In the gliding floating state and the gliding diving state, the resistance of the boat body can be reduced in the form of a specific attack angle and a specific navigational speed, non-driving posture adjustment is achieved, the turbine is combined with high-temperature reaction water of the fuel cell, the self-adaptive power generation function is achieved in the diving state, the working efficiency of the fuel cell can be fully improved, and the long-distance sailing function of the underwater vehicle is achieved.