Modeling, Control and Experiments of a Novel Underwater Vehicle with Dual Operating Modes for Oceanographic Observation

Multifarious and continuous oceanographic observation data is of considerable significance to research military application. In this paper, a novel method with dual-modal underwater vehicle able switch between the Argo Glider modes proposed studied experimentally in South China Sea. Using Newton–Euler formulation, complete dynamic model considering variation gravity/buoyancy due mode switching thus established. Then, based on Lyapunov stability criterion, nonlinear adaptive inverse controller multiple inputs outputs developed which enables platform freely various modes. By analyzing numerical experimental single mode, results demonstrate that can supplement improve accuracy data. Finally, acquired by Sea, three-dimensional regional oceanic temperature salinity fields are constructed spatio-temporal Kriging method, feature surfaces extracted from fields. Furthermore, be applied other stirring regions, such as ocean eddies, fronts, filaments, etc.