中文摘要：

研究了水下机器人轨迹的滑模跟踪控制。针对滑模抖动对系统稳定性的影响，设计了一种基于变倾斜参数sigmoid函数的积分滑模切换函数。基于这个函数设计的控制器在避免抖振现象的同时，保持了高控制精度，且能抑制传统积分滑模控制器常见的超调现象。该控制方法有效性已通过理论证明和仿真实验得到了验证。

英文摘要：

The sliding mode control of underwater vehicles＇ trajectory tracking was studied. To solve the influence of the mode chattering on the stability of underwater vehicles, an integral sliding mode switching function based on varia- ble parameter sigmold function was established, and the function was applied to the control design. The designed controller can eliminate the chattering problem, which reduces the possible overshoot of traditional integral sliding mode controllers and maintains a high control precision. The theoretical proof and simulation experiment proved the effectiveness of the new control method.