於本研究中，水下載具的六自由度的混合式導引律被成功推導出來，此導引律的設計完全無需降低系統為度及進行線性化的設計，此導引律中使用了模糊逼近方法去消除系統不確定的非線性項也透過適應律持續的最佳修正，混合H2/H∞導引律設計可最小化控制過程的能量消耗及最佳化降低系統不確定性與環境干擾的影響。在推導過程中可以利用系統特性與適當的選擇誤差方程去解出在H2最佳化控制或H∞強健控制常見的Riccati形式微分方程，此解可以簡化導引律的結構，最後在精確的感測器下導引律具備簡單及可執行性結構。

In this study, the adaptive fuzzy mixed H2/H∞ guidance law is successfully derived for autonomous underwater vehicles in 6 DOF without reducing system order and taking linearization. One part of this proposed guidance law adopts the fuzzy approximation method to estimate the perturbed nonlinear term and be continuously turned by a set of adaptive laws. The proposed mixed H2/H∞ guidance law design can minimize the consumed energy of control and attenuate the effect of modeling uncertainties and disturbances optimally. In the derivation process, the nonlinear differential Riccati-like equations, which are frequently encountered in H2 optimal control or H∞ robust control problem, can be solved by using the properties of model and adequately selecting of error dynamics. From simulation results, this proposed guidance law has robustness property with respect to modelling uncertainties and ocean environmental disturbances. Significantly, this proposed design reveals the promising trajectory tracking performance.

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