自治式水下航行器(AUV)和其它空中、陆地和水中无人驾驶航行器一样都有一般的控制问题。除了需要用于实时任务执行的高维和计算上密集的传感数据外,水下环境的动力和通信限制使得开发AUV的控制结构变得更加困难。本文介绍用于AUV的四种控制结构(分级的、不分级的、包含的和混合的结构)。详述11种AUV控制结构系统,体现了AUV技术水平和风格。还叙述新的基于传感器的嵌入式AUV控制系统结构并讨论其实现。 Autonomous Underwater Vehicles (AUVs) have the same general control issues as other air, land and sea unmanned aerial vehicles. In addition to the need for high-dimensional and computationally intensive sensing data for real-time task execution, the dynamics and communication limitations of the underwater environment make it more difficult to develop the control architecture of the AUV. This article describes the four control structures used for AUVs (graded, unfranked, contained and mixed structures). Details 11 kinds of AUV control structure system, embodies the AUV technology level and style. Also describes the new sensor-based embedded AUV control system architecture and discusses its implementation.