[2] MERCADO RAVELL D A, MAIA M M, DIEZ F J. Modeling and control of unmanned aerial/underwater vehicles using hybrid control[J]. Control Engineering Practice, 76, 112-122(2018).

[8] [8] LIU H P, GONG Z B. Disturbance fuzzy approachbased sliding mode control on the wking attitude adjusting device of ROV[C]Proceedings of 2009 International Asia Conference on Infmatics in Control, Automation Robotics. Bangkok: IEEE, 2009.

[9] [9] KIM H H, WON J S, CHO H J, et al. A study on robust control method of underwater vehicle using SMCSPO[C]Proceedings of the 2017 11th Asian Control Conference. Gold Coast: IEEE, 2017: 561–564.

[16] [16] KOSHKOUEI A J, ZINOBER A S I. Adaptive backstepping control of nonlinear systems with unmatched uncertainty[C]Proceedings of the 39th IEEE Conference on Decision Control. Sydney, Australia: IEEE, 2000: 47654770.

[17] BEVILACQUA L, KLECZKA W, KREUZER E. On the mathematical modeling of ROV'S[J]. IFAC Proceedings Volumes, 24, 51-54(1991).

[18] SAVARESI S M, PREVIDI F, DESTER A et al. Modeling, identification, and analysis of limit-cycling pitch and heave dynamics in an ROV[J]. IEEE Journal of Oceanic Engineering, 29, 407-417(2004).