This chapter concentrates on the problem of modeling and motion control for the AUVs with fins. Firstly, we develop the motion equation in six-degree freedom and analyze the force and hydrodynamic coefficients, especilly the fin effect. The feasibility and accuracy are verified by comparing the results between at-sea experiments and simulation. The model is applicable to most AUVs. Secondly, we present a simple and practical control method — S surface control to achieve motion control for the AUVs with fins, and deduce the self-learning algorithm using BP algorithm of neural networks for reference. Finally, the experiment results verify the feasibility and the superiority of the mathmetical modelling and control method.

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