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本文的工作以具有6个自由度运动能力的水下机器人（潜器）运动轨迹控制为背景，分析了造成耦合的原因，然后从减小控制耦合作用的角度建立了潜器的数学模型，设计了潜器运动的滑模控制方案，并讨论了推力分配、控制受限等问题。从仿真结果看该控制方案具有良好的定位和目标跟踪能力。
The work of this paper is based on the trajectory control of a submarine robot (submarine) with six degrees of freedom of movement. The reason of the coupling is analyzed. Then, the mathematical model of the submarine is established from the perspective of reducing the control coupling. The sliding mode control scheme of submarine motion was discussed, and the problems of thrust distribution and limited control were discussed. From the simulation results, the control scheme has good positioning and target tracking ability.