Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

Khozhaev, Ivan; Gayvoronskiy, Sergey An.

doi:10.1088/1757-899x/124/1/012019

Cited by 4 publications

(3 citation statements)

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“…In order to provide the desired control quality, despite the interval parametric uncertainty of UUV, it is proposed to synthesize controllers in direct connections with the help of the method, described in [13][14]. This method is based on the root approach to controller synthesis and the system poles domination principle.…”

Section: B Development Of System Structurementioning

confidence: 99%

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

Khozhaev¹,

Ezangina²,

Gayvoronskiy³

et al. 2018

IJMERR

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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. 

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Section: B Development Of System Structurementioning

confidence: 99%

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

Khozhaev¹,

Ezangina²,

Gayvoronskiy³

et al. 2018

IJMERR

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show abstract

“…Let us call the first group of poles dominant poles; the second grouppoles with undetermined location. Considering this, a characteristic polynomial can be written as follows: [1]. Let us now describe a dynamics of a considered ROV MCS control channels, achieved by applying a described approach to synthesis.…”

Section: B Parametric Synthesis Of the Mcs Controllersmentioning

confidence: 99%

“…Robust control systems with interval parameters are known for their durability, but are usually used for controlling rather slow processes. This approach is described in [1][2][3][4][5][6][7]. The main aim of current paper is to develop robust MCS for a UUV, which will provide desired dynamics and durability simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Motion Control System for a Remotely Operated Vehicle with Interval Parameters

Gayvoronskiy¹,

Khozhaev²,

Ezangina³

2017

IJMERR

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Modern underwater unmanned vehicle must operate in unpredictable conditions of water environment. This leads to a problem of motion control systems with uncertain parameters development. The paper is dedicated to development of robust motion control system for an underwater remotely operated vehicle. Several issues of developing control systems with parametric uncertainty were considered: deriving a mathematical model of an underwater remotely operated vehicle with interval parametric uncertainty, estimation of interval parameters values, developing a structure of motion control system and synthesizing a set of robust controllers, providing desired control quality in the system. 

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Estimation of the Influence of the Supply Voltage Non-sinusoidally on the Results of Measuring the Parameters of Powerful Submersible Electric Motors

Melnikov

Yaroslavkina

Yakimov

2022

Cyber-Physical Systems: Modelling and Industrial Application

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Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

Cited by 4 publications

References 0 publications

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

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

Motion Control System for a Remotely Operated Vehicle with Interval Parameters

Estimation of the Influence of the Supply Voltage Non-sinusoidally on the Results of Measuring the Parameters of Powerful Submersible Electric Motors

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