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An integrated approach to the design and analysis of navigation, guidance and control systems for AUVs

This paper describes an integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles (AUV's). The general framework is illustrated with a design exercise in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System).