Objectives To address the current gaps in wearable diver propulsion vehicle (DPV) regarding compatibility with general diving equipment, wearable human-computer interaction, mathematical model establishment, and closed-loop attitude control algorithms, this study focuses on the overall design, mathematical model development, and attitude control research of a vector-propelled wearable DPV that is easy to wear and intelligently controllable.

Methods Firstly, the structure, functional composition, and vector propulsion layout of the wearable DPV were designed. Kinematic and dynamic models of the integrated frogman-propulsion vehicle system were established, followed by thrust modeling analysis of the DPV under the "four-propeller combined" vector thruster and research on simplifying the system's dynamic model. Secondly, an attitude control method based on a fuzzy PID controller was proposed, with corresponding controllers designed for pitch and yaw angle control respectively. Simulink was used to construct the system's attitude control simulation model for simulating the mathematical models and controllers. Finally, a prototype of the wearable DPV was built, and pool-based attitude control experiments were conducted.

Results Simulation and pool experiment results show that the proposed motion model and attitude control method can achieve stable attitude control of the entire frogman-worn carrier system. The designed fuzzy PID controller has better control performance than the traditional PID controller, and solves the parameter tuning problem of the latter.

Conclusions The designed wearable DPV is compatible with general diving equipment and has convenient, practical human-computer interaction. The proposed model and control method enable it to achieve stable underwater attitude control, thus meeting the frogman’s operational needs for large-angle changes in pitch/yaw angles and high-stability control underwater.