V. L. Timchenko, D. O. Lebedev


Nonlinear robust control system, that improves marine vehicle’s control process under condition of a marine vehicle’s and environment’s uncertainty, is considered in the article. Nonlinear robust system allows to keep a predetermined optimal stabilization trajectory of a nonlinear marine vehicle in the required vicinity by creating additional robust contour that enables to compensate different types of uncertainty. Optimal speed system based on variable structure is used to determine an optimal stabilization trajectory, taking into account given dimension of the marine vehicle’s model, required type of stabilization trajectories and constraints on control actions. Nonlinear robust system solves control tasks of nonlinear marine vehicles during maneuvering and dynamic positioning under condition of uncertainty.


Marine vehicles; robust control; nonlinear control systems; variable structure


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