自主式水下航行器控制技术新进展

自主式水下航行器是一个复杂的智能化机电系统，是能够在复杂的海洋环境中自主执行各种任务的无人平台。近年来，自主式水下航行器（AUV）控制技术取得了长足进展，本文较全面概括了近年来国内外在AUV控制技术领域的最新进展，主要包括基于控制器设计的建模、推进器建模与控制、动力定位控制、推力矢量控制、欠驱动控制等方面，然而目前AUV控制领域面临的难点主要在模型不确定和扰动不确定、传感器信息不足以及欠驱动系统的本质特性（例如可控性）及其控制方法等方面，还需要人们为之付出不懈的努力。

New Development of Control Technique of Autonomous Underwater Vehicle

The autonomous underwater vehicle(AUV) is a complex intelligent electromechanical system to carry out different types of missions in the complex ocean environment.This paper introduces the new progress of the AUV control technique worldwide in recent years,including the modeling based on controller design,modeling and control of thruster,dynamic positioning,vector thrust control,and underactuated control,etc.It is pointed out that a continuous effort should be made to overcome such difficulties in the field of AUV control as uncertainties of modeling and disturbance,insufficient information from sensors,inherent characteristics of underactuated system(e.g.controllability) and its control technique.