Modeling, Control and Simulation of Underwater Kite

The modeling of underwater kite is carried out, and the influence of tether tension on the stability of attitude is analyzed. A method of trajectory control for underwater kites is presented, which is simple and easy to implement and can output smooth heading angle commands. The attitude control law for tracking heading angle commands is designed. Based on the proposed trajectory control method and the attitude control method, the simulation of the kite's six degrees of freedom motion is carried out, and the effectiveness of this method is verified. The influences of flow velocity and elevation angle on the trajectory characteristics and velocity of underwater kite are analyzed through the motion simulation.