Control of an autonomous underwater vehicle with a well-streamlined non-cylindrical shape

Autonomous underwater vehicles play a huge role in conducting modern research in a wide variety of fields of knowledge, such as oceanology, ecology, climatology and many others. In addition, it is impossible to imagine carrying out cartographic, search, and monitoring work without underwater vehicles. Uninhabited underwater autonomous vehicles are especially in demand, which do not require the presence of an operator and are able to get where a person cannot get. New goals are constantly being set for such devices, which requires the development of new and improvement of existing methods for creating automatic control systems. This article is devoted to the formation of control for one of these devices.