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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8432764/figures/8432764.fig.001a.svgz" name="8432764.fig.001a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Sagittal operation interface of snorkeling</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8432764/figures/8432764.fig.001b.svgz" name="8432764.fig.001b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Horizontal operation interface of surface</td></tr></table>

<div>Operation interface of simulator.</div>

Mathematical Problems in Engineering

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Figure 1

Figure 1: Research on Submarine Straight-Line Track Control Underwater Based on Nonlinear Proportion Differential 