Synthesis of nonlinear systems of underwater vehicles based on quasi-linear models

Abstract

This study is devoted to the application of one of the modern approaches to the synthesis of nonlinear automatic control systems for autonomous unmanned underwater vehicles. The high requirements for such underwater vehicles necessitate the use of methods that take into account the features of their nonlinear characteristics. At the same time, the task of synthesizing nonlinear control systems is quite complex. This has led to the development of a significant number of different methods for solving this problem. Most of these methods require a preliminary transformation of the equations of a nonlinear object to some special types, but finding the appropriate transformation is very often also a difficult task. A new quasi-linear approach is considered below, in which the desired transformation is reduced to differentiation, and in some cases to integration of partial derivatives of the nonlinearities of the object. This approach leads to simple engineering methods for synthesizing control systems for autonomous underwater vehicles. Based on it, it is possible to create modern control systems for nonlinear objects in the field of shipbuilding, energy, agriculture, instrument engineering and other industries.