Solid State Phenomena Vol. 210

Abstract: The paper presents the process of modeling and investigation of dynamic properties of automatically controlled underwater vehicle as an object with superimposed nonholonomic constraints. Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. This model is now being used to make numerical simulation program, that illustrates the behaviour of the object during guidance. A review on motion of the underwater vehicle considered in the inertial system associated with mother-ship.

Abstract: This paper focuses on a problem of power distribution in a multi-thrusters propulsion system of an underwater robot. The presented thrust allocation methods are directed towards minimization of energy expenditures necessary to obtain required control. A power/thrust relation is mapped by a linear function. Such approach allows using linear programming (LP) techniques to finding an optimal thrust allocation for demanded propulsive forces and moments. The LP models of thrust distribution are regarded for unconstrained and constrained allocation control.