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6. Underwater torpedo
Let's consider a torpedo-type underwater robot such as the one shown in figure 24 . To move, the drone is equipped with three control surfaces and a thruster. The input u 0 , is the speed of rotation of the thruster and u 1 , u 2 , u 3 are the angles of the control surfaces. We assume that the velocity vector v r is always along the direction of the robot, or equivalently, the drone has no lateral velocity.
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