This paper investigates the effect of waves and ocean currents on the dynamics and motion control of underwater gliders. Waves and ocean currents affect a glider’s performance by deviating from its desired path and reducing its operational range. The influence of wave disturbances and ocean currents is estimated using mathematical models for sea state, potential flow theory and linear wave theory. The effect of waves at various heights, frequency and period were studied for a nonlinear dynamic model of the underwater glider. The wave characteristics have been simulated to investigate their effect on the depth, velocity and range of the glider. Subsequently, a line of sight algorithm in conjunction with controller was designed for the newly designed prototype of the Universiti Teknologi PETRONAS autonomous underwater glider to investigate the action of internal actuators in performing a saw tooth trajectory in the presence of waves and current disturbances. The glider was slightly perturbed due to the shallow and deep waves, with the more pronounced effect at increasing wave amplitude. However, the range of the vehicle remains relatively unchanged.

中文翻译：

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波浪和水流对水下滑翔机运动控制的影响

本文研究了波浪和洋流对水下滑翔机动力学和运动控制的影响。波浪和洋流会偏离其所需路径并减少其操作范围，从而影响滑翔机的性能。波浪扰动和洋流的影响是使用海况数学模型、势流理论和线性波浪理论来估计的。针对水下滑翔机的非线性动力学模型，研究了波浪在不同高度、频率和周期下的影响。已经模拟了波浪特性以研究它们对滑翔机的深度、速度和范围的影响。随后，为新设计的马石油大学自主水下滑翔机原型设计了视线算法与控制器相结合，以研究内部执行器在存在波浪和电流干扰的情况下执行锯齿轨迹的动作。由于浅波和深波，滑翔机受到轻微扰动，随着波幅的增加效果更明显。然而，车辆的范围保持相对不变。