Trajectory-Tracking Control of Underwater Vehicles

The main aim of paper is to introduce the results of research concentrated on controlling remotely operated underwater vehicle which task is trajectory tracking with high accuracy. Firstly the problem of trajectory tracking and its formal and mathematical description were introduced. Next the proposed fuzzy autopilot which assure high precision of trajectory tracking by underwater vehicle was presented. At the end the example results of research on trajectory tracking in environment without and with disturbance were presented. The paper is finished by summary which include conclusions derive from results of research.