This thesis presents a comprehensive study on the dynamic modeling and autonomous control of an Autonomous Underwater Vehicle (AUV), with the REMUS platform as a reference model. The work begins with the formulation of the vehicle’s equations of motion based on Newton-Euler principles, which are then structured following the nonlinear marine vehicle model introduced by Thor I. Fossen. This framework captures the interaction of forces and moments acting on the vehicle, considering both inertial (NED) and body-fixed (BODY) reference frames. Hydrodynamic coefficients, essential for accurate modeling, were sourced from literature where they are derived through experimental testing, towing tank data, and CFD simulations.