The report presents a mathematical model of the motion control of an autonomous solid body moving in incompressible stratified viscous fluid and analytical and numerical analysis of this model. It is assumed that the body does not have its own propulsion system, but is equipped with controlled rudders – wings of finite span. It is moved by the influence of the buoyancy force and wings lift. The control is produced by the angle of attack of the wing change for ensuring access to the given point by this solid body. This body motion is considered to be plane-parallel motion. This paper results are based on the mathematical model which was presented by the authors at XII MTM Congress held in September 2015 and XIII MTM Congress held in March 2016.