深潜救生艇对接过程的监督控制

深潜救生艇与失事艇的对接是一个复杂的过程，其关键在于作业过程的协调控制．在对接过程的控制中引入了混杂动态系统的概念，并对混杂动态系统的离散事件操作部分进行了设计．用混杂动态系统理论设计监督控制来检测位置和姿态偏差是否控制在设定的阈值内；当超出设定界限，调整控制器使位置和姿态回到设定范围内．

Supervisory control of deep submergence rescue vehicle's mating process

Deep submergence rescue vehicle's mating process is a complex process .The key of this process is coordinated control. In view of the control of mating process, the concept of the hybrid dynamical system is introduced and the discrete event dynamical system of the hybrid dynamical system is designed .Hybrid system theory is applied to design the supervisory control in order to detect the errors of position and posture in or out of thresholds . When these errors are out of thresholds, the controllers are modified to made position and posture thresholds are in control.