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用二维的运动学模型模拟研究自治式水下机器人的导航控制系统。控制系统由函数链网络的前馈控制器和函数链网络的PID控制器组成。模拟结果表明，此控制系统具有良好的鲁棒性，有较强的适应环境变化的能力和抗干扰能力。
Study on the Navigational Control System of Autonomous Underwater Vehicle with Two Dimension Kinematics Model. The control system consists of the feedforward controller of the function chain network and the PID controller of the function chain network. The simulation results show that this control system has good robustness, strong adaptability to environmental changes and anti-interference ability.