This paper investigates the automatic atti-
tude and depth control of a torpedo shaped
submarine. Both experimental results and
dynamic simulations are used to tune feed-
back control loops in order to obtain stable
control of yaw, pitch and roll of the craft.
Ridley, Peter, Fontan, Julien, & Corke, Peter (2003) Submarine automatic control. In Roberts, Jonathan & Wyeth, Gordon (Eds.) Proceedings of the 2003 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, Brisbane.
