Numerical And Experimental Study On The Maneuverability Of An Active Propeller Control Based Wave Glider

Wave glider is a revolutionary ocean surface autonomous vehicle, which has the ability to convert surface wave motion into forward propulsion. Theoretically, the endurance of the wave glider is unlimited because of the consistent wave energy resources in ocean. Therefore, it has a broad application prospect in ocean survey and observation. However, due to the characteristics of low speed, underactuation and weak maneuvering of the wave glider, the maneuverability is of great significance in improving the cruising efficiency. In this paper, an 8 degree-of-freedom (DOF) mathematical model of the wave glider based on the active propeller control is developed. The performances of two kinds of controllers, i.e., the propeller based controller and the conventional rudder based controller, are compared in simulations in terms of course response, course keeping and turning. Experiments were conducted in the wave tank with the active control based wave glider named "SJTU Mouse". The results demonstrate that the propeller control based wave glider has better maneuverability than the conventional rudder control based wave glider. Finally, sea trial with the "SJTU Mouse" was also conducted, and the results show that the propeller control based wave glider can track the desired course and desired path well under the complex ocean disturbances.