Ziying Pan

1. Introduction The maneuverability of a submarine pertains to its capacity to sustain or alter its speed, orientation, direction, depth, and other motion characteristics via its control mechanisms. All submarines primarily depend on control surfaces to execute maneuvers [1]. The control surface typically consists of four hydrofoils that regulate the submarine’s navigation state by altering the rudder angle or the angle of attack of the hydrofoils.

1. Introduction In the natural world, when fishes or birds move close to the wall, some benefits, including drag reduction or lift force enhancement, will be acquired due to the wall effect [1]. For example, little energy will be consumed when hard-boned fish are suspended near the wall [2]. The swimming speed of trout fish can also be improved when the distance between the ground and the trout is small [3].

1. Introduction In the natural selection process of the ‘survival of the fittest’, existing aquatic creatures, especially the predators of advanced aquatic animals in the ocean, have developed a complete set of cruising methods and skills with low energy consumption, high propulsive efficiency and rapid mobility [1,2].