Mathematical modeling and synthesis of docking process control for autonomous unmanned underwater vehicle

Sergey A. Polovko
PhD in Technical Sciences, Russian State Scientific Center for Robotics and Technical Cy-bernetics (RTC), Research Center, Research Advisor of Center, Leading Research Scientist, 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.

Dmitriy A. Frolov
RTC, Junior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(911)717-67-35, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 5 November 2020

Abstract
The paper considers a problem of synthesis of the docking process control of the AUV with the container which belongs to the class of terminal control problems. The method for the synthesis of a two-level control system based on the selection of the dominant component of the state vector and predicting the dynamics of the remaining components at each control step is proposed. In this case, according to the results of the extrapolation of the dynamics to the terminal point, the value of the restriction on the derivative of the dominant component is determined. We synthesize a two-level control system for vertical docking for a specific pair of AUV - container. A thorough analysis of the synthesized control system based on the developed mathematical model is carried out.

Key words
AUV docking, terminal control, dominant component, two-level control system.

Acknowledgements
The results were obtained within the framework of the state assignment of the Ministry of Higher Education and Science of Russian Federation no.075-01195-20-00 «Methods for automatic synthesis of optimal control of the robotic group behavior based on situational analysis using semantic technologies».

DOI
https://doi.org/10.31776/RTCJ.8403

Bibliographic description
Polovko, S. and Frolov, D., 2020. Mathematical modeling and synthesis of docking process control for autonomous unmanned underwater vehicle. Robotics and Technical Cybernetics, 8(4), pp.266-275.

UDC identifier:
681.51:629.58

References

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