针对一类鱼雷型的水下自主航行器艏相角进行控制. 针对解耦后的艏相角数学模型给出一类非光滑类PD有限时间控制算法的设计和稳定性分析证明. 最后通过数值仿真验证了该方法的有效性.

In this paper, the steering control problem for the torpedo-like autonomous underwater vehicles is discussed. A class of non-smooth PD-like finite time controllers is designed. Finally, the validity and efficiency of the controllers is verified by numerical simulations.