Investigation is made on Nomoto model of underwater vehicle and the disturbance of ocean current and surf with different frequency characteristic are considered when the vehicle navigates in the deep water and near the surface.

Underwater vehicle (UV) motion control was so representative in nonlinear systems, so UV control with differential geometry can be carried out with good fruit.

It is shown that the device can meet the requirement of working space of underwater vehicle passageway and there is not any interference phenomenon through assembly design.

Simulation of submersible plate with elliptical section in low speed maneuvers;

Stability evaluation for submersible with elliptical section in forward and back maneuvers;

On the hydrodynamic forces of submersible with aerofoil section in forward and backward motions;

Multi-objective optimization analysis of circular cylindrical ring-stiffened shell of submarine with deep diving depth

The underwater hovering system of submarine is a nonlinear process,which changes with the state of submarine and the difference of navigational condition.

Development of Remote Control Submarine Hydraulic Windlass;

H~∞ robust control for principal axis speed of variable vector propeller of submersible vehicle

Submersible vehicles play an important role in ocean exploitation, state security system and so on.

Due to the complicated working environment and load characteristics of variable vector propeller of submersible vehicle,the feedback linearization model of system of permanent magnet synchronous motor was established to control by using robust control theory.

Approach of perpendicular move friction test to small submersible implement;