中文摘要：

针对AUV航行环境复杂、模型参数摄动大、执行机构的饱和非线性等特点，采用灰色预测算法改进传统的AUV PID横滚姿态控制器，设计了灰色PID控制算法，以达到抑制和消除横滚的目的。仿真结果表明，灰色预测PID算法操舵平滑，控制速度快，鲁棒性和环境适应能力更好，完全能胜任AUV横滚姿态控制的要求。

英文摘要：

According to the characteristics of navigation environment complexity,model parameter perturbation, execution mechanism nonlinear saturation of autonomous underwater vehicle（AUV）,the traditional AUV PID roll attitude controller was improved by means of grey prediction algorithm,and a grey PID control algorithm was designed to inhibit and eliminate AUV roll. The simulation results show that the grey prediction PID algorithm has smooth steering control,fast speed control,better robustness and adaptive capacity to the environment. it is fully qualified to AUV roll attitude control.