Finding Area of Desired Control Quality of an Unmanned Underwater Vehicle Motion in a Plane of Its Construction Parameters

Tatiana Ezangina, Ivan Khozhaev, Alla Nesenchuk, Sergey A. Gayvoronskiy

Research output: Contribution to journalArticlepeer-review

Abstract

—The paper is dedicated to solving a problem of finding the area of values of unmanned underwater vehicle construction parameters providing desired oscillability degree of its motion control system with interval parameters. Construction parameters such as unmanned underwater vehicle length and maximal diameter, which are primary parameters, are linked with secondary parameters of unmanned underwater vehicle motion control system included in coefficients of its interval characteristic polynomial such as added masses of water and hydrodynamic coefficients. Authors propose a method of estimating unmanned underwater vehicle construction parameters by finding intervals of characteristic polynomial coefficients providing desired motion control quality. Example of the proposed method application is also provided.

Original languageEnglish
Pages (from-to)1427-1431
Number of pages5
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume9
Issue number10
DOIs
Publication statusPublished - Oct 2020
Externally publishedYes

Keywords

  • construction parameters interval parameters oscillability degree interval characteristic polynomial unmanned underwater vehicle sixth term
  • Index Terms

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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