In this paper , the auv is the object of the research . in order to overcome the negative effects of the non - linear part of kinematic model , sea current and wave during motion control , a new type of neural network : fuzzy cerebellar model arithmetic controller ( fcmac ) , together with an on - line learning scheme based on the lyapunov stability theory , has been adopted in designing the new motion control system . the simulation results have been compared with those generated by a classic pid controller 本文以auv為對象,針對其運動控制中模型非線性部分對控制性能影響較大及有海流、海浪等外界干擾等特點,采用一種新型神經(jīng)網(wǎng)絡(luò):模糊小腦模型關(guān)節(jié)控制器( fuzzycerebellarmodelarithmeticcontroller )并結(jié)合基于李雅普諾夫原理而推導出的學習算法設(shè)計auv的運動控制系統(tǒng),并與傳統(tǒng)pid控制器進行了仿真比較。