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• ## Development and research of position-trajectorial controller for underwater glider motion control

This article reviews the process of glider motion control system development based on position-trajectorial controller, developed by V.Pshikhopov. A mathematical model of an underwater glider is reviewed briefly, this model uses variable buoyancy for movement. Control system uses position-trajectorial controller which uses two controll variables for straight gliding and turning. The article contains results of modelling the motion control system in various modes such as straight gliding, gliding with turning and following a set of points. A brief description of practical usage of the control system is given.

Keywords: glider, control system, position-trajectorial controller, motion control, mathematical modelling

• ## Development of the USV path planner based on the unstable mode

In the article, the method of designing the path planning on the basis of an unstable mode is described. This method is based on the bionic approach and does not require mapping, it reduces requirements for the sensor subsystem. In this article, we propose a method of obstacle avoidance in which an unstable mode is realized in a separate dynamic link. The output of the dynamic link corrects the desired course of unmanned surface vehicle (USV). This allows to set the unstable trajectory of motion only at the planning level, and at the regulatory level to function in a stable mode. In addition, this approach allows you to plan the direction of detour travel. Detailed description of the proposed path planner, as well as the results of the research in Matlab are provided in the article.

Keywords: Control system, unstable mode, path planner, unmanned boat, obstacle avoidance

This paper presents an approach to organize the group control underwater vehicles based on multi-loop adaptation algorithm of position-trajectory control system of moving object, with the estimating unmeasured parameters, reference model and contour that ensure astatism 2nd order. Estimation of unmeasured disturbances on the top control level as part of the reference model, which allows for highly accurate positioning of the final master AUV in the target point specified as a parameter to the reference model. The application of the developed algorithm expedient in control systems of moving objects group, where a single object from the leading group, and its parameters are used as the parameters of the reference model. The leading mobile object control system uses an adaptive control system with disturbance estimation. The control systems of the slave moving objects using positional-trajectory control system astatism second order, thereby providing high-precision tracking of the movement of the reference mobile object.

Keywords: group control, AUV, adaptive control, reference model, position, trajectory control, estimator, parameter estimation, the mobile object

• ## Path planning for autonomous mini-ship

The paper deals with the trajectory planning of the mini-ship in an environment with obstacles. The structure of the control system hardware, software architecture built on basis of ROS software environment are presented. Global planner is designed using Voronoi diagrams method. Local planner (regulator) proposed to be implemented using the unstable regimes of control to bypass obstacles near the mini-ship. The results of simulation showed the efficiency of the proposed approaches.

Keywords: mini-ship, management, planning, Voronoi diagram, ROS

• ## Implementation and parameter identification of autonomous unmanned underwater vehicle type glider

The article deals with the implementation and identification of parameters of autonomous unmanned underwater vehicle. The structure of the glider and its basic structural elements. The experimental study to identify the parameters of the glider.

Keywords: glider, submersible, gear change buoyancy actuators, control system, microcontroller board, remote control.

• ## Development And Research of Path Planning Subsystem for Underwater Vehicle Control System

This paper provides solution for the task of plane movement of the underwater vehicle using hierarchical control system. Searching A*-algorithm is used for creation of the path plan. Vehicle moves along the stated path under control of position-path regulator on the base of square form. Vehicle, used in this paper features torpedo-like form, two cruise engines and maneuvering device.

Keywords: mathematical model, underwater vehicle, planning, position-path control, A*-algorithm

• ## Hydrodynamics calculations of AUUV

The paper substantiates the necessity of the CFD analysis of AUUV. It presents an algorithm of hydrodynamic coefficients computation. The initial conditions and environment model for computation are defined. We present the CFD results and the approach of hydrodynamic coefficients analysis.

Keywords: AUUV hydrodynamics mathematical model polynom approximation software complex

• ## Simulation of the design activity diversification of innovative enterprise

Calculate the aerial and / or hydrodynamic effects from the continuous medium required for the synthesis of an adequate control system. Numerical simulation of movement managed position-control trajectory mini-ship at small angles of heel and the presence of sea waves on the basis of a fully-mathematical model and the proposed methodology for assessing the hydrodynamic impact.

Keywords: surface mini-boat, position-control trajectory, aerohydrodynamics, mathematical model, nonlinear dynamics, CFD modeling, external disturbances

• ## Algorithms multiconnection position-trajectory control of mobile objects

The paper considers the algorithms of position-trajectory control of mobile objects, are automatically distributed control forces and moments on the actuator. The basic control law is based on the equations of kinematics and dynamics and method of position-trajectory control of mobile objects. We consider the distribution of control forces and moments on the basis of pseudo-inverse matrix, which provides minimum MSE. This approach does not provide for preliminary separation of control channels, as is customary in classical systems of mobile objects. The proposed method is applied to the control system of aeronautical complex. The cases of excessive and insufficient number of control channels. The results of the simulation.

Keywords: position-trajectory control, a multiply, actuators, mobile object

• ## Development and Research of Mathematical Model for Autonomous Underwater Vehicle

Authers propose the approach to development of mathematical model of the independent autinomous underwater vehicle. Model takes into account hydrodynamic properties which were obtained by an electronic purge of the vehicle case. This type of the vehicle has a torpedo-shaped form and icludes one propeller with the operated vector of draft and two (horizontal and vertical) bow-thrusters located in nasal part.

Keywords: mathematical model, underwater vehicle, autonomous vehicle, robots

• ## Implementation and experimental investigation of the control unit of actuators for autonomous marine vehicle "Neptune"

The article discusses the design of microcontroller control unit for actuators of marine vehicle "Neptune". Functions of the control unit and its interconnections with the other functional elements of the vehicle is described. Emergency remote control mode is presented in details. Paper contains description of hardware and software implementation of the control unit. The efficiency of the proposed design is proved by the results of experiments in which authors measured dependencies between the parameters issued by the autopilot and the appropriate control signals applied to the actuators of autonomous vehicle.

Keywords: control unit, actuators, control system, microcontroller board, remote control.

• ## Position-Trajectory System of Direct Adaptive Control Marine Autonomous Vehicles

From the point of view of development of control systems, a significant disadvantage of indirect adaptive control systems of moving objects is the fact that the limiting the properties of such system are determined by the basic adaptive regulator. In other words, to solve the problem of adaptive control it is required to find a non-adaptive regulator, which solves the problem of marine autonomous vehicles. In this case, the adaptive controller replaces many controllers that solve the control of multiple objects in a non-adaptive domain. The paper presents method of direct adaptive control for marine autonomous vehicles. Nonlinear mathematical models are considered. The method is based on position-trajectory control approach. It is proved the designed by suggested method controller is a vector nonlinear PI-regulator. The regulator ensures asymptotical stability of the closed-loop control system.

Keywords: adaptive control, marine autonomous vehicles, position, trajectory

• ## Development of Autonomous Underwater Vehicle Simulator

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

Keywords: modeling, underwater vehicle, autonomous vehiclem simulator, robots

• ## Software complex of detection and diagnosis of hardware failures in robotic marine mobile vehicles

The paper considers the use of ground station operator’s software that provides the diagnosis of automatic control system of marine vehicles, based on the monitoring of the functional state of the system elements with depth to the type of failure. Also considers the use of neural networks for solving the problems of monitoring, control and state diagnostics of the actuators and sensors. Describes the principles applying of active fault tolerance and flexible functionality recovery of marine mobile vehicle’s control system

Keywords: Modeling, control systems, diagnostics, fault tolerance, neural networks, AUV

• ## Development and design of a mathematical model of an autonomous mini-board ship "Neptune"

A mathematical model of a surface mini-ship "Neptune", including a mathematical model of the actuators. Used to identify the parameters of the mathematical model. analysis of stability and controllability of surface mini-vehicle for its mathematical model.

Keywords: mathematical model, surface mini-ship, handling, stability