Control system for long-range survey hybrid-driven underwater glider

A hybrid-driven underwater glider is a new class of autonomous underwater gilder which combines the concept of a conventional autonomous underwater vehicle (AUV) and a conventional autonomous underwater glider (AUG). This kind of vehicle can operate in three different modes, such as propeller-driven mode, buoyancy-driven mode, as well as hybrid-driven mode. In order to find the characteristics of AUV mode of the HDUG. This paper use Lagrange method build a 3D hydro-dynamic model for the hybrid-driven underwater glider. And we analyze the motion characteristics of the HDUG in vertical plane. The target output is the pitch angle, horizontal velocity, trajectory and angle of attack. Simulation results show that in AUV mode, the HDUG will experience much lower resistance and obtain higher velocity in zero angle of attack and neutral buoyancy case. This results give us advice that if we want the HDUG can reach farther distance we should decrease the angle of attack.