SELF-ADJUSTING SYSTEM WITH A REFERENCE MODEL FOR CONTROL OF UNDERWATER VEHICLE MOTION
A. V. Lebedev1, V. F. Filaretov2
1Institute of Automation and Control Processes, Far-Eastern Branch, Russian Academy of Sciences, ul. Radio 5, Vladivostok, 690041 Russia
2Far-Eastern Federal University, ul. Sukhanova 8, Vladivostok, 690950 Russia
Keywords: система управления, автономный подводный аппарат, эталонная модель, самонастройка, control system, autonomous underwater vehicle, reference model, self-adjustment
Abstract
A method of synthesis of a self-adjusting multichannel system with a reference model for centralized control of autonomous underwater vehicle motion is developed. Conditions of selfadjustment process stability with allowance for dynamic reciprocal effects and kinematic relations between all control channels in the presence of parametric nonstationarity of the complete nonlinear mathematical model of the vehicle are obtained. The amplitude of the self-adjustment signal is formed as a function of coordinates and reference-input signals in order to reduce the control signal magnitude. The developed system ensures a high quality of control of an underwater vehicle with significant variations of its parameters.
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