自治水下机器人滑模轨迹跟踪控制技术研究综述
A Review of Sliding Mode Trajectory Tracking Control Technology for Autonomous Underwater Vehicles
摘要: 自主式水下机器人(AUV)是海洋勘探与发展的一个主要手段，AUV具有先进的导航、控制、通讯、传感器等技术，使人类对海洋的认知有了质的飞跃。控制系统是水下机械臂的核心部分，其工作性能的好坏直接关系到其工作的稳定性和可靠性。简要介绍了AUV的几种主要控制方法，对其运动控制方法的选择、控制器的设计和控制系统的设计具有参考价值。
Abstract: Autonomous Underwater Vehicles (AUVs) are a major means of ocean exploration and development. AUVs are equipped with advanced technologies such as navigation, control, communications, and sensors, enabling a qualitative leap in human understanding of the ocean. The control system is the core component of underwater robotic arms, and its performance directly affects the stability and reliability of their operation. This briefly introduces several main control methods of AUVs, providing valuable reference for the selection of motion control approaches, the design of controllers, and the design of control systems.
文章引用：王政钦, 何芊霓, 梁正强, 周雪韵. 自治水下机器人滑模轨迹跟踪控制技术研究综述[J]. 动力系统与控制, 2026, 15(1): 56-61. https://doi.org/10.12677/dsc.2026.151005

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