| SysteIn mode1 ing, s imulat i11g and control l ing are studied in thi spapel-, based on tl1e stato's '863' project' 1'he Equ ipll1ent Used bySl1ol1gI. i Pe t l'o 1 ]:i e 1 (l f'oI' I)(' t (1(1 t i I1g ilnd I{eIJil j l. i I1g I> j Pes i ll(l {,;l1f) l es ullderS(Jil1)c1(l of' 1'l1e Sh;l l 1 o\\, S(3il'. l)llo t o j t s \\'()l'k 1'eilt ul'o, t llu [lll(l(3l.\\rilt e1-velli c 1 e stu(l ie(l ll(,l'e stl()Ll1 (1 lao I>c)s i t i ()l3e(l to l i ne accLll'ilt o1 y. As oneof t lle dyllaJni c I?()s i t 1 o11i 11g nlel 11()(ls, I)os i t i ()n j ng t() 1 i 11e i s d i fI'el-entI'l-Oll] t,llG J'j x Ilo j llt Il()s i t i ()n i lJg;ls n()1w111i1l l y n1PI11 i ()Ile3(l,;1T7cl n(l(>(ls ne\vcont ro 1 strat egy.Su f1e1~i ng th(' i nt el-fel'eflce of the exteri or ol7x' i 1-onIllent, t heUn(!el-u',ittll' vehi c1 e i t sel f i s fi syst caIll \vhi cl1 i s nonl i ncal- and s t1'ongcotlDl efl, u']l icll i ncl-eases t fle cOllllJl ex i t y of i t s cont ro l. I:ol- Such a h ind()f s}'ste111, val-i ab1 e st l'uc tu f-e cont l-ol ilncl fuzzy contr()l IJl-oved to []eef1'ici ent, and l1ave been al ready apIJ] ie(l in the contl-o1 o1' theun(le1~\vat el- vehi c ] es and t I1e under\\at el? robots. Var iabl e st ruc t urecont rol can adapt ively (leal \\i th the uncertaint i es of systemPal-tlJllot e1's and i Tlt el-1'eres f1-om oL] 'L s i (le. I3u t \,n r ia1J l e s t l-uc 1 u 1'e c()I1 t l'o lst i ] l h;ls solllo (le 1'ec t s, alld tllcl f,l*i nlal'y de['c>c t is the exi s1 e11ce or thec1lat 1 e]-i ng, \v11i ch afl'ect s t }1e s teiidy pe1-fo1'11]ance of the s}'s t enl. Th ispaper introduced the fuzzy cont1fol into the variabl e st ruct ure control,\\hi ch combined the two control methods' nleri ts, real ize(l the rapi dresponse, robustness of the systen1, and el iminated the chattering,thus provided a new method for the app1 icat ion of the variablestructure contro1 and the fuzzy contro1.This paper respectively discussed the three subsyste1ns for theUllclel.\\iit el' vehi c le I s 1eng t h\\ays, holi zont al and head i ng fl-eedon1degl-ees and theil' cont rol 1 ing nlethods. CoT1s i deri ng that t he exte]-ioI-in t el-ference mai n1 y comes from t 11e sea fl o\v \\l11elJ i t i s un(lel'\\-i1 t el', thi snfr)J{j1t I;fI+lk,7:F}itft,?}{t!:i/Cxpal7er veri fj ed t he st I~ol1g 1~oI)ust ness of th is fuxzy va1-iilb1 e st l'uctul'ccontrol method against the mode1 uncertainties and externaldisturhances, such as the variat ions of the sea current I s sDeed anddirect ion, ancl it a1 so coInpared it se1f wi t.h the l>JI) contl~o1 ler incomnlon use and the regu1ar variable structure contro11 er. l n ordel- tomeet the demands of the practice engi nee1~ing, i t al so co1nbi ne'1 theDi t ch ad ju s tnlclll t t G con t 1-o] t he ul1der\vi1 t o1' ve11 i c1 e. 1: j l1;l 1 1 y, l'l-()II] t I1(JS imu ];lt i I1g l'c.su l 1 s, \\'c, cilIl SC(' t 11;lt t ll i S c()rlt I-o1 1 el' Jl;ls t 1ltl l't';lt [1t.(,of' h i g}1 p1-ec i S i()11, (lll i cl{ ]'eSl0<)l1Se, all(1 l1 i gIl J.c)l)ustl1clSS, ill1(1 i t fl 1 s()vel- i J'j o(] the coI'I'cc t l1ess;:l11(1 acc[ll';l('y o1' tl1e ll]ode l, \\'11 i ch sI3o\vecl t l1i1 ttlli s co11t1~oI n1et l1()d hf1s h i gl1 val uo J'()1' theol-y L111(l u t i l i 1 y. ']'o 11l(1(lt tII('deJnands of the sinlu lati on, the soft\vaie i s pr()gran]l11c,d \\'i t h VC,-+, \\'hi chhas good intel}face.
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