【摘要】 用二维的运动学模型模拟研究自治式水下机器人的导航控制系统。控制系统由函数链网络的前馈控制器和函数链网络的PID控制器组成。模拟结果表明，此控制系统具有良好的鲁棒性，有较强的适应环境变化的能力和抗干扰能力。更多还原

【Abstract】 2 dimensional kinematic model is used to investigate a motion control systeml consists of feed forward controller and PID controller which are constructed with Functional-Link net (FLN). Simulation study shows that the control system is robust, and it has better adaptability and antidlsturbance-更多还原