This study aims to improve the response speed and efficiency of rudders, and meet the depth-keeping and attitude control requirements of near-surface vehicles under static water and wave disturbances.

An improved S-plane control algorithm with faster convergence speed is proposed on the basis of the S-plane algorithm. It is then combined with expert intelligent control to establish a hybrid model and controller of a closed-loop expert control-improved S-plane algorithm. The differences between the PID algorithm, S-plane algorithm, improved S-plane algorithm and expert control-improved S-plane algorithm in the navigational depth and attitude control of near-surface navigators are compared and analyzed, and motion prediction under wave disturbance is completed.

The improved S-plane algorithm can improve the convergence speed in still water and reduce the pitch amplitude under wave disturbance, while the expert control-improved S-plane algorithm can improve the rudder control efficiency. In still water, the navigator state can be quickly and stably transitioned, and in waves, the heave and pitch amplitudes of the near-surface navigator are effectively reduced by more than 30%.

The expert control-improved S-surface algorithm proposed herein has good applicability for the improvement of near-surface vehicle motion stability.