Selection of Method for Underwater Robot Control
Automatic control of motion of underwater robots, particularly along desired trajectory, requires application of proper controllers taking into account dynamics of the underwater robot and features of the marine environment. In the paper the mathematical model of an underwater vehicle  and the architecture of designed control system  have been presented. Moreover, selected results of numerical analysis in the form of comparison of different course controllers have been provided.
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
P. Szymak "Selection of Method for Underwater Robot Control", Solid State Phenomena, Vol. 164, pp. 149-154, 2010