Aprobation of uninhabited underwater vehicle motion control system model-based design technology in the presence of disturbances

Aprobation of uninhabited underwater vehicle motion control system model-based design technology in the presence of disturbances

Sergey A. Polovko
Candidate of Engineering Sciences, Leading Research Scientist, Research Advisor of Center, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Research Center, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-47-64, This email address is being protected from spambots. You need JavaScript enabled to view it.

Danila K. Serov
Postgraduate Student, Engineer, RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vladimir V. Goryunov
Deputy Head of the Laboratory, RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Ilya A. Bondarenko
Programmer RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Aleksei A. Pozhilov
Engineer, RTC, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0005-2458-7533

UDC identifier: 681.51

EDN: NPTCZZ

Abstract. The paper describes the results of testing the model-based design technology for an unmanned underwater vehicle motion control system developed at RTC. The problematic issues in designing an unmanned underwater vehicle motion control system are identified. The existing approaches to mathematical modeling of unmanned underwater vehicle dynamics are analyzed. A brief description of the technology used to synthesize control algorithms is provided. The composition of a specialized test bed for conducting full-scale experiments is presented, including an experimental pool, a setup for creating a current, and a light marker for localizing the vehicle using machine vision algorithms. Approaches to mathematical modeling of an unmanned underwater vehicle dynamics under the influence of non-stationary currents are proposed. Full-scale experiments of underwater vehicle’s positioning using computer vision in the presence of disturbances were conducted with the aim of testing the proposed approach to mathematical modeling. The key factors influencing the accuracy of positioning an unmanned underwater vehicle in the presence of a current using computer vision are identified. The main advantages and disadvantages of the proposed simulation approaches are formulated.

Key words: model based design, MBD, unmanned underwater vehicle, UUV, computational hydrodynamics, unsteady flow

For citation: Polovko, S.A. et al. (2025), "Aprobation of uninhabited underwater vehicle motion control system model-based design technology in the presence of disturbances", Robotics and Technical Cybernetics, vol. 13, no. 3, pp. 205-215, EDN: NPTCZZ. (in Russian).

Acknowledgements
The work was carried out as the part of the state task of the Russian Ministry of Education and Science «Development of the theory of model-based design for the problems of creating transformable robotic systems using methods of computational mechanics and fluid dynamics» (FNRG-2025-0005 1024042600099-7-2.2.2;1.2.1).

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Received 12.03.2025
Revised 07.05.2025
Accepted 26.05.2025