中文摘要：

为提高水下机器人故障检测的正确率,降低故障诊断的误报率和漏报率,基于水下机器人的空间运动方程,完成了非线性滑模观测器的设计,并利用设计的观测器完成了水下机器人的系统辨识.将观测器应用于水下机器人的传感器仿真试验和推进器故障诊断的海上试验的结果验证了该方法的有效性和可行性.

英文摘要：

To improve the correct rate of fault detection for underwater robots while decreasing the false alarm rate and missing report rate, the nonlinear sliding-mode observer was designed based on the motion equations, and the underwater robots＇ system identification was undertaken based on the observer. The observer was applied both to sensor fault diagnosis simulation experiments and thruster sea trials for underwater robots, and the results verify the validity and feasibility of the proposed method.