Dual-mode robust control system for an undersea robot charging station for shallow depths

摘要

The article focuses on the control of a charging station connected to a carrier-ship by a tether under the conditions of sea disturbance. Models of two control systems of a charging station, based on the concept of dual-mode adjustment, were developed: one for the submerging control mode and one for altitude stabilization mode. Systems, mentioned above, use a shock-absorbing hoist of a charging station as an actuator. The parametric synthesis of robust controllers for a dual-mode control system of a charging station and its simulation under the impact of sea disturbance were performed. Synthesized controller enables a charging station control system to operate despite interval parametric uncertainty of the system, including a long cable with distributed mass and a charging station itself.