针对优化通信协议无法解决的水声传感器网络可靠性和可持续性问题，设计一种具有自主移动能力的水下可控节点，并在该可控节点的基础上设计一种水声传感器网络控制系统。该系统以拓扑控制服务器为中心，从网络部署控制、汇总数据监控和网络拓扑控制三个方面实现对网络稳定性和可持续性的维护。

The optimization of communication protocols is helpless to improve the reliability and sustainability of Underwater Acoustic Sensor Network. Aiming at this problem, this paper designs a kind of controllable nodes which can move independently and be controlled, and designs a control system based on controllable nodes for Underwater Acoustic Sensor Network. The system uses the topology control server as the center, and maintains the reliability and sustainability of the network from deployment control,data monitoring and topology control.