A RVIEW OF MATHEMATICAL AND ALGORITHMIC METHODS OF CONTROL SYSTEMS A MULTI-PURPOSE AUTONOMOUS UNMANNED UNDERWATER VEHICLE WITH COMPLEX MOTION DYNAMIC

Abstract

This article presents sources, researches and investigations of mathematical and algorithmic methods and approaches of control systems of multipurpose autonomous unmanned underwater vehicles. The research describe, how automation control with help of different methods, approaches and algorithms is instrumented and implemented in conditions of complex dynamic of autonomous unmanned underwater apparatus.

A description of works and works over the past 10-15 years in the field of mathematical and algorithmic methods of automatic control of moving objects operating and operating in water and underwater environments is presented and given. The issues and experience of theoretical and practical automatic control are considered. Last decade experience provide us with different approaches and methods, however control system researches based on preliminary knowledge about apparatus, moreover, in the most cases, during the research of the control systems the apparatus design features, the apparatus movement nature and missions and tasks which set under apparatus. Take into account the previous experience and conducted researches in this topic, an approach of integrated and comprehensive research of the automatic control system is proposed, which issues control signals taking into account not only the dynamics of the apparatus movement, but also the design features of the apparatus, hydrodynamic parameters that depend on the design of the apparatus, the apparatus spatial position, which refined by the orientation and navigation system, the application of the initial information of the orientation and navigation system as feedback information to refine the control coefficients and improve the accuracy and quality of control.

Current works in the field of automatic control of multi-purpose autonomous unmanned underwater vehicles with complex dynamics are analysed. A critical analysis of the problems of control multi-purpose autonomous unmanned underwater vehicles with complex dynamics is carried out, and a way to improve existing methods of controlling multi-purpose underwater vehicles with complex dynamics is presented.