Synthesis Of The Control System Of Vectored Thruster Underwater Vehicle Spatial Motion

摘要

In the given work the method of synthesis of the control law ofrnvectored thruster AUV movement is offered. This control law allowingrnto provide its exact moving on the desirable trajectory in the conditionsrnof limited capacity of its thruster complex. The given control systemrnconsiders not only dynamic error, but also a deviation from therndesirable trajectory, and desirable laws of trajectory movement.rnBesides, in work the algorithm of transformation of parameters ofrnmovement on a desirable trajectory is offered. This algorithm allows tornconsider indirectly capacity restrictions thruster complex and to changerndesirable movement parameters on a trajectory.