Dynamics modeling of an unmanned wave glider with flexible umbilical

Unmanned wave gliders (UWGs) are a new type of wave-powered unmanned marine vehicle for persistent ocean environmental monitoring. The present paper proposed the dynamic model of a UWG by considering the influences of the flexibility of the umbilical. The dynamic models of surface float body (float) and submerged glider (glider) with slack umbilical were first separately established, and subsequently, the dynamic model of the UWG was formulated when the umbilical was under tension. Furthermore, the judgment principle and the state transfer problem in the switching process were analyzed, and numerical simulations of longitudinal and rotary motions of the UWG were performed. The established dynamic model was found to be reasonable to reflect the dynamic characteristics of the UWG with flexible umbilical.