Adaptive track-keeping control of underwater robotic vehicle

paper describes a method of control of the underwater robotic vehicle to the problem of tracking of a reference trajectory. A multidimensional non-linear model expresses the robot's dynamics. Command signals are generated by an autopilot consisting of four independent controllers with a parameter adaptation law implemented. A quality of control is concerned without and in presence of environmental disturbances. Selected results of computer simulations illustrating effectiveness and robustness of the proposed control system are inserted.