为提高水下机器人故障检测的正确率,降低故障诊断的误报率和漏报率,基于水下机器人的空间运动方程,完成了非线性滑模观测器的设计,并利用设计的观测器完成了水下机器人的系统辨识.将观测器应用于水下机器人的传感器仿真试验和推进器故障诊断的海上试验的结果验证了该方法的有效性和可行性. In order to improve the correctness of underwater robot fault detection and reduce the false alarm rate and false negative rate of fault diagnosis, the nonlinear sliding mode observer is designed based on the space motion equation of underwater robot, and the observer is designed The system identification of underwater robots is validated by applying the observer to the underwater robot’s sensor simulation test and the propeller fault diagnosis test at sea, which verifies the effectiveness and feasibility of the method.