This article reviews the process of glider motion control system development based on position-trajectorial controller, developed by V.Pshikhopov. A mathematical model of an underwater glider is reviewed briefly, this model uses variable buoyancy for movement. Control system uses position-trajectorial controller which uses two controll variables for straight gliding and turning. The article contains results of modelling the motion control system in various modes such as straight gliding, gliding with turning and following a set of points. A brief description of practical usage of the control system is given.

Keywords: glider, control system, position-trajectorial controller, motion control, mathematical modelling