在本研究裡，探討一非線性且多重擾動的六軸潛艇模型，在無須降低系統的維度或是進行線性化的步驟下設計。在此方法中，透過整合擾動並利用模糊逼近法進行消除，以降低系統不確定性以及環境干擾所造成的影響。並基於本實驗室的潛水艇的規格進行針對性的控制力設計，此控制力包含PD類型的滑模控制結合致動器、推進器端的飽和型設計讓水下載具所規劃出的控制力更加可行。以此方法於三維水下空間中進行模擬以及驗證。

In this study, a nonlinear 6 DOF submarine model with muti-disturbance is researched. The controller is designed without reducing the dimensions of the system or linearizing the system. In this method, the various disturbance will be integrated, which will be eliminated by Fuzzy approximation method in order to reduce the impact of modeling uncertainty and environmental interference. Basic on the specifications of the submarine in our laboratory, the controller will be designed with intent, which includes PD-sliding mode control method combining the input saturation of actuators and propeller. Therefore, the controller design of the underwater vehicle is more feasible. The method is simulated and verified in three axes underwater space.

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