中文摘要：

针对AUV三维路径跟踪过程中的自动驾驶仪设计问题,根据时标分离原理将AUV路径跟踪自动驾驶仪系统即姿态稳定回路划分成快、慢回路。采用神经网络H∞鲁棒自适应控制算法分别设计了自动驾驶仪快、慢回路的控制器,用Lyapunov稳定性理论对系统进行了稳定性分析。仿真结果表明：路径跟踪控制系统具有良好的动态性能。

英文摘要：

For the design of autopilot in 3D path tracing of AUV,the attitude stabilization loop was divided into the fast loop and the slow loop based on the time scale separation theory.The controllers for the fast and slow loop were designed by using the neural network H∞ robust adaptive control method.The Lyapunov method was used to prove the stability of the system.The simulation results show that the path tracing control system is good in dynamic performance.