An optimal insertion algorithm with parameters correction of the controls structure for automatic underwater vehicle

Аuthors

Malyshev V. V.^*, Kabanov D. S.^**

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: veniaminmalyshev@mail.ru
**e-mail: kabanovds@mail.ru

Abstract

This paper deals with an optimal algorithm with parameters correction of the controls structure, designed for an automatic underwater vehicle (AUV). The controls structure is formed using Pontryagins minimum principle. This algorithm forms an optimal trajectory of AUV and works stable under changing terminal conditions. A developed AUVs stabilization system calculates optimal rudder deflection angles which are required to hold the AUV on the optimal trajectory. Numerical calculations of AUV dynamics using the simulation model are presented.

Keywords:

automatic underwater vehicle, Pontryagins minimum principle, predictive model.