Abstract: The autonomous underwater glider is a type of highly efficient autonomous underwater vehicle. Aiming at the problem that full-scale legacy gliders have difficulties in forming steady gliding movement in typical tanks, which induces obstacles in their dynamics analysis, a laboratory-scale glider is designed in this paper, where the glider design, modeling, control,and experimental research are described in detail. Firstly, the structure of the glider is described, and hydrodynamic parameters are calculated based on CFD. Secondly, the glider's dynamic governing equation is established according to the internal mass distribu-tion. Finally, the Linear Quadratic Regulator(LQR)controller and the Kalman observer are designed, and certain amount of white noise is added into the observation process. The simulation results show that the controller and observer ensure the normal operation of the glider in the presence of noise, and the glider can achieve steady gliding motion at 3 m depth range, suggesting good stability and maneuverability.