Placing the sliding poles of the system at [0 - 2.5 - 2.4], we got the diving control law as: dS = 0.4414q + 0.53090 + 4n tanh(q + 40- 4(z - zcom)/0.65)

The line of sight (LOS) is the horizontal plane angle for the guidance function of ISiMI. It was derived from:

in which [Xk Yk ] are the waypoints preprogrammed in the vehicle, and [X(t) Y(t)] is the current location of the vehicle. The decision as to whether or not the waypoint has been reached is made from:

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