TY - JOUR

T1 - Deriving a six-dimensional mathematical model of an unmanned underwater vehicle motion control system with interval parameters

AU - Gayvoronskiy, S. A.

AU - Khozhaev, I.

AU - Ezangina, T.

PY - 2020/6/9

Y1 - 2020/6/9

N2 - The paper is dedicated to a problem of mathematical modeling of a motion control system for unmanned underwater vehicle. The proposed model considers interval parametric uncertainty of underwater vehicle itself and water environment, nonlinearity of control object and actuator of the system and interaction between its control channels. In order to derive the model several objectives were accomplished: a mathematical model of underwater vehicle motion in a viscous fluid in all six degrees of freedom was derived; mathematical model of separate thruster and whole propulsion and steering system was derived; both model were linearized with the help of interval linearization method and, finally, a structure of the whole motion control system was determined. The model is applicable for simulation modeling of underwater vehicle motion and for analysis and synthesis of motion control systems in condition of interval parametric uncertainty.

AB - The paper is dedicated to a problem of mathematical modeling of a motion control system for unmanned underwater vehicle. The proposed model considers interval parametric uncertainty of underwater vehicle itself and water environment, nonlinearity of control object and actuator of the system and interaction between its control channels. In order to derive the model several objectives were accomplished: a mathematical model of underwater vehicle motion in a viscous fluid in all six degrees of freedom was derived; mathematical model of separate thruster and whole propulsion and steering system was derived; both model were linearized with the help of interval linearization method and, finally, a structure of the whole motion control system was determined. The model is applicable for simulation modeling of underwater vehicle motion and for analysis and synthesis of motion control systems in condition of interval parametric uncertainty.

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U2 - 10.1088/1742-6596/1490/1/012066

DO - 10.1088/1742-6596/1490/1/012066

M3 - Conference article

AN - SCOPUS:85088107864

VL - 1490

JO - Journal of Physics: Conference Series

JF - Journal of Physics: Conference Series

SN - 1742-6588

IS - 1

M1 - 012066

T2 - 5th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2019

Y2 - 19 October 2019

ER -