关键词：自治水下机器人；混合驱动器；运动控制；稳定性
摘 要：A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators.And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicle's dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account.Besides the advantages of S controller such as simple structure,MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller.The stability of MSC is analyzed with Lyapunov function.Finally,MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters.The feasibility of MSC is demonstrated by the results of velocity control,yaw control and depth control tests.