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With the development of deep submergence technology, submarine is widely used in many aspects as marine analysis and detection of marine resources. For the reason of strong nonlinearity and coupling in submarine exercise, it is difficult to get satisfactory control effect by conventional control method. In order to control objective of stable straight-line suspension underwater, how to control the change of rudder angle to stabilize attitude and improve the control performance is researched from feature analysis to submarine. Aiming at improving the global stability, kinetic character of straight-line suspension movement underwater is analyzed and modeled firstly, and model of nonlinear relationship about change of rudder angle and attitude is built then. Based on the conditions of global stability asymptotically of submarine tracking control underwater and the physical significance of tracking control by nonlinear proportion differential, a controller is designed for controlling horizontal rudder angle and vertical rudder angle by dynamic feedback, which achieve the balance of tracking controlling both in local and global and guarantee global stable convergence asymptotically. At last, the stability, effectiveness, and global convergence of controller are proved by the simulation experiment.

Research on Submarine Straight-Line Track Control Underwater Based on Nonlinear Proportion Differential