An Approach for Trajectory Tracking Control of an Underactuated Autonomous Underwater Vehicle Considering Time Delay

[...]different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API). [...]there is a notable interest in the development of advanced control methods for movement in submersible vehicles. [...]section 5 presents the final comments. 2.Fundamentals 2.1.Vehicle Kinematics The vehicle position and orientation are described with regard to the inertial reference frame, while the vehicle linear and angular speeds are expressed about to the body-fixed reference frame. [...]a control law must be designed to have convergence in the system.