Orientation control of the Wave Glider with uncertain environment disturbances and unknown variable hydrodynamics coefficients: Theory and simulation

Abstract

This research proposes an Adaptive Sliding Mode Control method to solve the yaw angle control problem of the Wave Glider with complex uncertain environment disturbances generated by wave, wind and current. Furthermore, hydrodynamics coefficients variation caused by marine organisms attaching is considered and handled. Moreover, the results of this research can provide a unified solution for the existing control modes, which can help the design of the course planing of a Wave Glider.