設計水面無人載具之導引律為海洋科技中自動導航技術的重要一環。水面無人載具能夠取代人工駕駛於複雜的海洋環境，且克服惡劣氣候的影響，故所設計的導引律必須能夠面對系統模型參數的不確定性，以及環境之擾動，如:風、海浪、海流等之干擾。目前大部分論文所提出的水面無人載具導引律皆只含需控制的縱移、橫移、平擺三個狀態。
本文所採用水面無人載具模型則除縱移、橫移、平擺外，也將另三個狀態：起伏、橫搖、縱搖，並探討控制器控制縱移、橫移、平擺下之起伏、橫搖、縱搖的影響，以不同方向之海浪為情境，以橫搖角度為主要指標狀態來觀察其在事先導航規劃下所造成之狀態表現，使水面無人載具在航行時能具備穩定性及可靠性。

The technology of control law design for autonomous unmanned surface vessels (AUSV) is important for autonomous guidance. AUSV can replace the artificial operation in the complicated ocean environment and it can conquer severe weather conditions, therefore, the design of the control law has to handle the modeling uncertainties and external disturbances, such as wind, wave, and current. In the most of existing studies, the control law only includes surge, sway, and yaw, it is not enough to analyze the complex environment. In this thesis, the control law includes surge, sway, heave, roll, pitch, and yaw, simultaneously, it discusses the effect of different encounter waves in predefined waypoints, to analyze the states of the AUSV, to ensure the AUSV can be operated with the performance of stability and reliability.

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