Fig. 1. Time evolution of the position of the UUV

As shown in Fig.1, the UUV achieved to reach the target point at about t=80. After reaching the target, the vehicle could keep its position very close to the origin as the variation of linear and angular velocities indicate in Fig.3. The control law, Fig.2, has oscillating and damping characteristics, and the frequency of the control signal is observed as j=0.5Hz at most.

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