中文摘要：

基于轨迹线性化控制（Trajectory Linearization Control,TLC）方法研究了全驱动自主式水下航行器（AUV）的轨迹跟踪控制.利用微分方程奇异摄动理论中的时标分离思想,将全驱动AUV的轨迹跟踪控制系统分成快、慢回路,分别基于轨迹线性化思想设计出快、慢回路控制器;利用Lyapunov稳定性理论对闭环控制系统进行了稳定性分析,通过AUV爬升转弯过程的仿真验证了该控制方法的有效性.

英文摘要：

Trajectory linearization control（TLC） was used to design the trajectory tracking control system for the fully actuated underwater vehicle.The TLC method is a novel and effective control theory for the tracking and decoupling method for nonlinear system which is essentially robust to the outside disturbance and could adjust the bandwidth online.The whole trajectory tracking control system is divided into two loops： fast loop and slow loop based on the time scale separation idea which belongs to the differential（equation） singular perturbation theory.The TLC controller is designed for the two loops.Lyapunov method is used in the stability analysis.The simulation proves the availability of the TLC controllers.