金鸿章,姚绪梁.船舶控制原理[M].哈尔滨工程出版社，2000 [2]罗延明. 船舶零航速减摇鳍及其电动伺服系统研究[D]. 哈尔滨: 哈尔滨工程大学,2007. [3]綦志刚,巩晋,金鸿章. 非定常流Weis-Fogh机构在零航速减摇中的应用[J].哈尔滨工程大学学报，2008,29(8):819-824 [4]金鸿章,张晓飞,罗延明等. 零航速减摇鳍升力模型研究[J].海洋工程,2007,25(3):83-88. [5]熊华胜,边信黔,施小成.积分变结构控制原理在AUV航向控制中的应用仿真[J].船舶工程,2005,27(5):30-33 [6]Juan Shi.Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Veicles [A]. Proceedings of TENCON 2006 (IEEE Region 10 Conference) [C]. Piscataway: Institute of Electrical and Electronics Engineers Inc., 2006:1-4 [7]Peter Michael Ostafichuk. AUV Hydrodynamics and Modeling for Improved Control [D]. Canada: The University of British Columbia, 2004 [8]Anthony J.Healey,David Lienard.Multivariable Sliding-Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles[J].Ocean Engineer, 1993, 18(3):327-339.
