The Twin Hybrid Autonomous Underwater Vehicle (THAUV) is an underwater monitoring system consisting of a twin buoyant body and a fixed wing mounted between them. It is equipped with two propeller thrusters and a pair of elevators at the aft end. As a new type of underwater vehicle, it combines the long endurance of an underwater glider (UG), the high-speed maneuverability of an autonomous underwater vehicle (AUV), and the abil...

A typical structure of an underwater glider (UG) includes a pair of fixed wings, and the hydrodynamic force driving the glider forward as descending or ascending in the water is generated primarily by the fixed wings. In this paper, a simplified glider motion model was established to analyze the dynamics in an easier way, and whose simulation results do not differ from the original one. Also, in the paper, the effects of the w...