This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases
