Control system depth and sink rate dive Autonomous drifters
Two types of control dynamics dive diving autonomous drifters. The first type of control - control of adaptive type, used to stabilize the sink rate drifter in a heterogeneity of the marine environment. The second type - the type of control terminal is used to achieve the desired depth of penetration for a given period of time with zero final velocity drifter. Modeling process managed dive performed in Matlab.