In this paper an advanced method modification of contouring motion control for unmanned underwater vehicle (UUV), based on applying of additional position regulator of progammed point jointly with customary contour control system, is suggested. This additional position regulator reorients the programmed point, defining the UUV motion along preditermined trajectory, resulting in generation of additional control signals, ensuring cancellation of external actions and UUV variable parameters. As consequence, UUV deviation from reference trajectory decreases. In this paper design method for position regulator of progammed point based on proportional plus derivative control law, which allows increasing of UUV's precision in movement along predetermined space trajectories without appearance of these devices' swaying against required trajectories, is offered. Because of Lyapunov method the proposed control law stability was proved, also recommendations on its implementation in real UUVs were formulated. Conducted mathematical simulation approved efficiency of suggested method in different UUV motion modes.
Underwater vehicle, contouring control, high accuracy.
Year 2015 Issue number 2 Consecutive issue number 7 Pages 56-60
UDC identifier: 629.58:62-5