WANG Y, WANG X, WANG J Y, et al. Near-surface motion modeling and wave-following control of AUVs[J]. Chinese Journal of Ship Research, 2025, 20(1): 340–349 (in Chinese). DOI: 10.19693/j.issn.1673-3185.04186
Citation: WANG Y, WANG X, WANG J Y, et al. Near-surface motion modeling and wave-following control of AUVs[J]. Chinese Journal of Ship Research, 2025, 20(1): 340–349 (in Chinese). DOI: 10.19693/j.issn.1673-3185.04186

Near-surface motion modeling and wave-following control of AUVs

  • Objective To address the covert communication requirements of autonomous underwater vehicles (AUVs), this study proposes a near-surface communication mode equipped with a foldable antenna.
    Methods Utilizing strip theory to predict the wave forces of regular waves, a five-degree-of-freedom motion equation for the AUV near the water surface is established. Simulation studies on wave-following control of the AUV are conducted using the line-of-sight (LOS) method and PID controllers.
    Results Simulation results demonstrate that the normal tracking stability accuracy of the spatial trajectory is 0.247 6 m, and the vertical tracking stability precision of wave-following motion is 0.232 6 m, indicating satisfactory control performance. Statistical analysis reveals that wave height and frequency significantly impact control effectiveness; larger wave height and frequency result in poorer control outcomes.
    Conclusion This study validates the feasibility of wave-following motion for AUVs near the water surface, providing theoretical support for high-covert real-time communication applications.
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