Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle

<table>Navigation trajectories in a time-varying current flow at (a) <i>t </i>= 252 s, (b) <i>t </i>= 623 s, and (c) <i>t </i>= 702 s.</table>

Mathematical Problems in Engineering

Figure 15: Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle 