Cui, Y.-N.; Dong, C., and Ren, J., 2019. Under actuated unmanned submarine path tracking method in complex environment. In: Gong, D.; Zhu, H., and Liu, R.(eds.), Selected Topics in Coastal Research: Engineering, Industry, Economy, and Sustainable Development. Journal of Coastal Research, Special Issue No. 94, pp. 149–152. Coconut Creek (Florida), ISSN 0749-0208.

With the vigorous development of China's shipbuilding industry in recent years, the research of underactuated unmanned submarines has gradually come into people's vision. Underactuated Unmanned Submarine is driven by propeller thrust and yaw moment. The input freedom of the control system of under-actuated unmanned submarine is very small. Because of its low altitude, which control is more difficult than general underactuated mechanical systems because it belongs to a special nonholonomic system. At the same time, the working conditions of submarines are very complicated. It will be disturbed by the marine environment such as living things and water flow. These velocities increase the difficulty of motion control and tracking of underactuated unmanned submarines. With the development of society, people's demand for underactuated unmanned submarines is increasing, which is mainly used in military and marine development. So, the study of underactuated unmanned submarines has important practical significance. Firstly, this paper designs the path tracking and control algorithm based on Lyapunov theory by establishing the model. Then, the correctness of the test results is verified by simulation. The final results show that the model and algorithm can effectively realize the tracking control of submarine and improve the tracking accuracy.