Dynamic modeling and experimental analysis of an underwater glider in the ocean

Abstract

An accurately dynamic model is crucial for systematic model-based motion prediction, control, and optimization. Historical dynamic models for underwater gliders ignored the ocean influence. This paper proposes dynamic modeling and experimental analysis of an underwater glider in the ocean. The physics-based dynamic model of the underwater glider is established first based on the Lagrangian equation, including gravity and buoyancy effects, the couplings caused by adjustment buoyancy and moving internal masses, and hydrodynamics caused by the fluid environment. Then, the compensation models of the underwater glider in the ocean are constructed to capture the critical effects on the underwater glider motion, including models of hydrological based on deep neural network, buoyancy loss based on finite element analysis, and ocean currents. Finally, field experiments and simulation studies demonstrate the effectiveness and accuracy of the proposed method.