Two-degree-of-freedom gliding solar underwater vehicle and control method thereof

The invention provides a two-degree-of-freedom gliding solar underwater vehicle and a control method thereof. According to the underwater vehicle, single wings which are in bilateral symmetry are independently controlled and are coordinated with twin wings to move together, so that the underwater vehicle has the characteristics of high energy, high maneuverability, high stability, low noise and the like. Meanwhile, a photovoltaic panel is carried on the underwater vehicle with gliding capability, so that electric energy of the on-board storage battery is continuously supplemented. According to the carrier, the characteristics of a solar underwater robot SAUV and an underwater gliding robot AUG driven by buoyancy are combined. Compared with the abroad SAUV, the gliding solar underwater vehicle has greater energy advantages, has the capacity of widening the operating range and further enhancing the cruising ability, and can be applied to the fields such as ocean parameter measurement, investigation of sea and l