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Article title DEVELOPMENT OF UNMANNED BOATS CONTROL ALGORITHMS AS THE NONLINEAR OBJECT
Authors A.R. Gayduk, B.V. Gurenko, E.A. Plaksienko, I.O. Shapovalov
Section SECTION V. SYSTEM AND CONTROL POINTS
Month, Year 01, 2015 @en
Index UDC 62-503.51: 62-531.4: 62-531.6
DOI
Abstract When you create a high-speed unmanned boats there is a problem of development of the system and control algorithm automatically propelling the boat along a predetermined trajectory at a predetermined velocity. As is known to solve this problem, first of all, must have an adequate mathematical model that describes the motion of the boat. In this paper, using refined mathematical model of the freeboard boat "Neptune", proposed in [4]. According to this model, the boat is a multidimensional object of control, as it has two control and two controlled variables. Therefore, the control system of boat is synthesized as a multidimensional, based on the model presented in the form of a controlled Jordan. This allows on the one hand to take into account non-linear models, and on the other hand, the choice of the parameters of the laws and control algorithms provide the desired quality of the process of autonomous movement boats along a predetermined path. The resulting non-linear autonomous control algorithm is implemented using the onboard computer and needed to control the variables boats will be measured continuously sensors. Investigation of properties of closed-loop control was carried out by numerical simulation on a PC. The paper developed a system of automatic traffic control unmanned boat. It is assumed that the boat is equipped with a measuring system that can determine its current position and velocity of linear and angular displacements. The control system is synthesized on the basis of a mathematical model of a boat, obtained in [4]. To solve the problem, the equations of control channels are boats to a managed form of Jordan, which allows analytically find the necessary control. The study synthesized control system, taking into account the structural constraints on the values of the control actions, carried out by computer simulation in MATLAB.

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Keywords Autopilot; unmanned boat; a managed form of Jordan; algorithms of management; mathematical model.
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