Design, Modeling and Experimental Validation of a Miniature Hybrid Underwater Glider With Large-Range Foldable Deflectable Wings

2026-07-15

AI Summary

This work addresses the challenge of concurrently enhancing maneuverability and morphological adaptability of miniature hybrid underwater gliders in confined aquatic environments. We propose FoDeGlider, a novel platform equipped with dual independently actuated wings capable of large-range folding and deflection. By treating wing configuration as a structural variable, we develop a Fossen-type multibody dynamic model based on CRBA projection that consistently captures the coupling effects of shifting mass distribution, geometric center, and hydrodynamic characteristics across configurations. Furthermore, we present the first open-source dataset for parameter identification and validation tailored to variable-configuration underwater gliders. Experimental results demonstrate that the proposed model achieves high-fidelity dynamic prediction across diverse wing configurations, and FoDeGlider can actively reconfigure during motion, significantly improving navigation performance in narrow waterways.

Abstract

Miniature hybrid underwater gliders have attracted increasing attention for long-endurance ocean observation and confined-space inspection. Large-range wing reconfiguration offers a promising yet largely unexplored approach for simultaneously enhancing maneuverability and shape adaptability in constrained underwater environments. However, such morphing introduces substantial challenges in mechanical integration, dynamic modeling, and hydrodynamic characterization. This paper presents FoDeGlider, a miniature hybrid underwater glider equipped with two independently actuated wings capable of large-range folding and deflection. To capture configuration-dependent variations in mass distribution, center-of-geometry location, and hydrodynamic loading, a multibody dynamics model is developed by treating wing configuration as a structural variable. A composite rigid body algorithm (CRBA)-based projection formulates the composite inertia, wrench transformations, and component-level hydrodynamics into a unified Fossen-form dynamic model applicable to arbitrary wing configurations. A sequential parameter-identification framework is further proposed to estimate fuselage and wing hydrodynamic coefficients, resulting in an open benchmark dataset for model identification and validation. Extensive experiments are conducted, the results of which demonstrate accurate dynamic modeling and parameter identification across diverse morphing configurations. Gate traversal experiments further validate FoDeGlider's ability to actively reconfigure its morphology during locomotion, enabling enhanced navigation in confined underwater environments.

Problem

• underwater glider
• morphing wings
• dynamic modeling
• hydrodynamic characterization
• mechanical integration

Innovation

• morphing wings
• multibody dynamics modeling
• hybrid underwater glider
• composite rigid body algorithm
• hydrodynamic parameter identification