Development of Algorithms for Control of Motor Boat as Multidimensional Nonlinear Object

Abstract

Abstract. In this paper authors develop and research system for motor boat control, that allows to move along the stated paths with the given speed. It is assumed, that boat is equipped by the measuring system that provides current coordinates, linear and angular velocities. Control system is based upon the mathematical model, presented earlier (see references). In order to analytically find the necessary controls, all equations were transformed to Jordan controllable form. Besides solution this transformation also allows to handle model nonlinearities and get required quality of movement along the stated paths. Control system includes algorithms for control of longtitudal velocity and boat course. Research of the proposed control system according to boat design limitations for the values of control variables was performed by simulation in MATLAB. Results of two experiments, different in value of the required velocity are discussed.

Development and Research of Path-Planning Module for Control System of Underwater Vehicle

“…object is rather challenging [4]- [6] and one of the hardest parts is mathematical model. It should take into account unsteadiness of parameters, dynamics nonlinearity and multiple connections of the underwater vehicle, as well as consider interaction of hull with viscous fluid and unexpected disturbances [7].…”