Robust Stabilization of an Autonomous Marine Vehicle on Programmed Trajectories

To solve the problems of effective manoeuvring of an autonomous marine vehicle, the principles of formation of programmed trajectories of polynomial forms, algorithm for determining the necessary switching moments and the types of optimal control functions in feedback circuits, considering the limitations on the physical control actions of the propulsions of an autonomous marine vehicle, are proposed. The use of a robust corrective control loop providing compensation of deviation of the current trajectory of the physical object from the optimal trajectory arising from the mismatch between the parameters of the model and the physical object and the influence of uncontrollable disturbances is proposed. Thus, invariance of the control system to incomplete information of models and minimum values of control errors are achieved. The given results of simulation modeling of the process of stabilization of an autonomous marine vehicle on a programmed trajectory confirm the correctness and efficiency of the proposed approach.