水下机器人的垂直平面导航控制器设计

Autopilot Controller Designing for Subsea Robot in the Dive Plane

用变结构控制理论，根据视线制导规律，推导了水下机器人在垂直平面内的变结构导航控制器．它有效地排除了非线性干扰。

Based on the line of sight guidance law, a new autopilot controller for subsea robot in the dive plane, which can fully eliminate the non linear influence, is designed according to the variable structure control theory. The simulation results show that the method is effective to the path tracking in the dive plane.