As the operating point crosses over the stability boundary, the chug amplitude disappears. 當工作點(diǎn)越過(guò)穩定性邊界時(shí)，低頻不穩定的振幅逐漸消失。
The equations of the AUV motions in the body-fixed horizontal plane are established, and they are linearized over a specified operating point to suit for the controller design. 建立了自治水下機器人在體坐標系下水平面運動(dòng)的運動(dòng)方程，并在特定的工作點(diǎn)對方程進(jìn)行了線(xiàn)性化處理，得到了自治水下機器人的控制設計模型。
