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Research on control for underwater vehicle is undertaken.S-plane control is verified to be effective in control of underwater vehicles.But there are problems in steady precision and parameter adjustments.In order to obtain higher steady precision,intelligent integral is brought in,and expert S-plane control is presented to tune the parameters on-line based on expert control and S-plane control according to practical experience and control knowledge.To prevent control output jumping,fuzzy neural network is adopted to fit the production rules in knowledge base.Experiments are conducted on the simulation platform,and the results show that expert S-plane controller performs well in current environment,and has better robustness than S-plane controller.