Lagrangian modeling of the Underwater Wave Glider

This paper introduces a control-oriented modeling approach for a hybrid autonomous underwater vehicle: the Underwater Wave Glider. Thanks to a non-conventional design, the vehicle can accomplish both surface and underwater tasks, by changing its shape. The vehicle can operate as a wave glider at the sea surface, where the potential energy of the waves and the solar radiation can be exploited to recharge the onboard batteries, while moving at low speeds. Moreover, the Underwater Wave Glider can switch to the typical torpedo-shaped configuration in order to operate both as a Glider and as a self-propelled Autonomous Underwater Vehicle. The vehicle dynamics are modeled via a non-standard Lagrangian approach and some simulations are provided.