Multivariable Control System of Vertical Motion for an Unmanned Underwater Vehicle with Interval Parameters

Abstract

Sophisticated unmanned underwater vehicles require automatic motion control systems. Common approach to synthesis of such systems does not consider parametric uncertainty of underwater vehicles and nonlinearity of some of their elements. Also, the interaction between manipulated variables is not commonly considered. The paper is dedicated to mathematical modeling of a multivariable control system for an unmanned underwater vehicle of a vertical motion, considering its interval parametric uncertainty. The research resulted into a tridimensional mathematical model of the underwater vehicle motion in a vertical plane; a model of a propulsion and steering system of the underwater vehicle and the method of robust controller parametric synthesis for such systems. 