This paper is concerned with the cooperative diving problem of homogenous under-actuated saucer-type autonomous underwater gliders subject to model uncertainties. input constraints as well as external disturbances. A modular back-stepping design method is used to design a robust adaptive cooperative diving controller for each glider. Especially. https://www.roneverhart.com/MagnaFlow-California-Grade-CARB-Compliant-Direct-Fit-Catalytic-Converter-6561416/