中文摘要：

为了改善水下机器人的控制效果，进行控制器设计研究。设计一个板极模型控制器，并且对Sigmoid型S面控制器和板极模型控制器进行对比研究。在此基础上，提出广义S面控制器。该控制器体现了模糊控制的思想，具有PD控制的简单结构；与模糊控制相比，不仅细化了模糊规则，而且降低了参数调整的复杂度，减少了计算量。将两种方法应用于水下机器人仿真研究和海上实验。仿真及实验结果的分析表明，在同样参数设置情况下，选择收敛性较好的S型非线性函数代替Sigmoid型S面控制器中的Sigmoid函数生成的广义S面控制器具有更好的控制效果。

英文摘要：

Research is undertaken to improve the control effect of underwater robots （URs）. A capacitor plate model controller was designed. And generalized S-plane controller was put forward based on the analysis of Sigmoid S-plane control and capacitor plate model control. Generalized S-plane controller represented the thought of fuzzy control and has simple structure of PD control. Compared with fuzzy control, it not only fractionized fuzzy rules, but also decreased the complexity when adjusting parameters and reduces the calculation. The two methods were applied to the URs＇ simulation experiments and sea trials. The analysis of the results show that when setting the same parameters, the generalized S-plane controller which obtained by choosing a nonlinear S-model function with better astringency to substitute the sigmoid function used in sigmoid S-plane control will achieve better control results.