隨科技的發展，無人自主載具已為重要的研究議題，由於無人載具已廣泛應用於執行各項任務，例如本文中的無人水下載具應用於環境資源探勘、深海搜救、軍事戰略…等，在執行任務的過程中，實際系統必須考慮自身的不確定性及未知環境下造成的環境干擾，因此，如何準確地控制使自主無人載具完成軌跡追蹤任務為本文的議題。本文針對實際情況採用六自由度的動態方程式設計非線性導引律分別為:適應性混合H2 / H∞導引律設計、適應性類神經混合H2 / H∞導引律設計。在推導過程中根據系統本身特性及適當狀態變數轉換，將複雜的 Riccati-like 方程式化簡為容易求解的形式，成功地求解控制律的解析解。最後，由模擬結果得知，驗證本文所提出之控制律設計具有良好的軌跡追蹤性能。

With to new technological advances, designs of unmanned vehicles have become important research subjects, and unmanned vehicles have been widely applied to perform various tasks, The autonomous underwater vehicles (AUVs) in this thesis are applied to resource exploration, deep-sea search and rescue, military strategy..., etc. In the process of tasks, the actual system must consider modeling uncertainties and unknown ocean environmental interference. Therefore, how to exactly control the AUVs to achieve the trajectory tracking task under the internal and external effects becomes very tough issues. For these reasons, based on the actual situation, the six-degree-of-freedom dynamic equation is used to design the nonlinear guidance laws as follows: adaptive mixed H2/H∞ control design, neural network adaptive mixed H2/H∞ control design. According to the system's characteristics and the conversion of appropriate state variables, analytical solution of the complex Riccati-like equation can be solved and a closed-form solution can be found. Finally, it is known from the simulation results that the control law design proposed in this paper has good control performance.

[1] R. B. Wynn et al., "Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience," Marine Geology, vol. 352, pp. 451-468, 2014.
[2] S. A. Gafurov and E. V. Klochkov, "Autonomous unmanned underwater vehicles development tendencies," Procedia Engineering, vol. 106, pp. 141-148, 2015.
[3] D. T. Roper et al., "Autosub long range 1500: An ultra-endurance AUV with 6000 Km range," in OCEANS 2017-Aberdeen, 2017: IEEE, pp. 1-5.
[4] S. McPhail, "Autosub6000: A deep diving long range AUV," Journal of Bionic Engineering, vol. 6, no. 1, pp. 55-62, 2009.
[5] L. Paull, S. Saeedi, M. Seto, and H. Li, "AUV navigation and localization: A review," IEEE Journal of oceanic engineering, vol. 39, no. 1, pp. 131-149, 2013.
[6] K. Alam, T. Ray, and S. G. Anavatti, "Design and construction of an autonomous underwater vehicle," Neurocomputing, vol. 142, pp. 16-29, 2014.
[7] K. Alam, T. Ray, and S. G. Anavatti, "Design optimization of an unmanned underwater vehicle using low-and high-fidelity models," IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 47, no. 11, pp. 2794-2808, 2015.
[8] S. Ohata, K. Ishii, H. Sakai, T. Tanaka, and T. Ura, "Development of an autonomous underwater vehicle for observation of underwater structures," in Proceedings of OCEANS 2005 MTS/IEEE, 2005: IEEE, pp. 1928-1933.
[9] P. E. Hagen, N. Størkersen, K. Vestgård, P. Kartvedt, and G. Sten, "Operational military use of the HUGIN AUV in Norway," Proc. UDT Europe 2003, pp. 123-130, 2003.
[10] O. Hassanein, S. G. Anavatti, H. Shim, and T. Ray, "Model-based adaptive control system for autonomous underwater vehicles," Ocean Engineering, vol. 127, pp. 58-69, 2016.
[11] L. Moreira and C. G. Soares, "$ H_ {2} $ and $ H_ {\infty} $ Designs for Diving and Course Control of an Autonomous Underwater Vehicle in Presence of Waves," IEEE Journal of Oceanic engineering, vol. 33, no. 2, pp. 69-88, 2008.
[12] Y. Yan and S. Yu, "Sliding mode tracking control of autonomous underwater vehicles with the effect of quantization," Ocean Engineering, vol. 151, pp. 322-328, 2018.
[13] G. R. Cho, J.-H. Li, D. Park, and J. H. Jung, "Robust trajectory tracking of autonomous underwater vehicles using back-stepping control and time delay estimation," Ocean Engineering, vol. 201, p. 107131, 2020.
[14] Z. Yan, M. Wang, and J. Xu, "Robust adaptive sliding mode control of underactuated autonomous underwater vehicles with uncertain dynamics," Ocean Engineering, vol. 173, pp. 802-809, 2019.
[15] T. W. Kim and J. Yuh, "A novel neuro-fuzzy controller for autonomous underwater vehicles," in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), 2001, vol. 3: IEEE, pp. 2350-2355.
[16] T. I. Fossen, Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011.
[17] B.-S. Chen, C.-S. Wu, and Y.-W. Jan, "Adaptive fuzzy mixed h/sub 2//h/sub/spl infin//attitude control of spacecraft," IEEE Transactions on Aerospace and Electronic Systems, vol. 36, no. 4, pp. 1343-1359, 2000.
[18] F. Rezazadegan, K. Shojaei, F. Sheikholeslam, and A. Chatraei, "A novel approach to 6-DOF adaptive trajectory tracking control of an AUV in the presence of parameter uncertainties," Ocean Engineering, vol. 107, pp. 246-258, 2015.
[19] R. Cui, C. Yang, Y. Li, and S. Sharma, "Adaptive neural network control of AUVs with control input nonlinearities using reinforcement learning," IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 47, no. 6, pp. 1019-1029, 2017.
[20] X. Liang, X. Qu, L. Wan, and Q. Ma, "Three-dimensional path following of an underactuated AUV based on fuzzy backstepping sliding mode control," International Journal of Fuzzy Systems, vol. 20, no. 2, pp. 640-649, 2018.
[21] T. T. J. Prestero, "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle," Massachusetts institute of technology, 2001.