Abstract
The batteries of autonomous underwater vehicles can be charged with the help of a submersible charging station without bringing a vehicle on the board of a carrier vessel. The paper is dedicated to a problem of stabilizing such charging station on a desired depth with the help of a shock-absorbing hoist, mounted on a charging station, despite sea oscillation. The mathematical models of two stabilization systems were developed, depending on the required measurement information: signal of a charging station vertical velocity and signal of a tension deviation of a shock-absorbing hoist. Both mathematical models consider the distribution and interval uncertainty of parameters of a mechanical system, which includes a tether and a charging station. Robust controllers were synthesized for both types of stabilization systems; simulation modeling of synthesized systems was performed. A comparative analysis of provided types of stabilization systems was performed on a base of simulation modeling results.
| Original language | English |
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| Title of host publication | 2018 International Russian Automation Conference, RusAutoCon 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781538649381 |
| DOIs | |
| Publication status | Published - 19 Oct 2018 |
| Event | 2018 International Russian Automation Conference, RusAutoCon 2018 - Sochi, Russian Federation Duration: 9 Sep 2018 → 16 Sep 2018 |
Conference
| Conference | 2018 International Russian Automation Conference, RusAutoCon 2018 |
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| Country | Russian Federation |
| City | Sochi |
| Period | 9.9.18 → 16.9.18 |
Keywords
- Adaptive control
- Aperiodic transient process
- Control system synthesis
- Parametric uncertainty
- Robust control
- Simulation modeling
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
- Control and Optimization