Synthesis Of The Control System Of Vectored Thruster Underwater Vehicle Spatial Motion

In the given work the method of synthesis of the control law of vectored thruster AUV movement is offered, This control law allowing to provide its exact moving on the desirable trajectory in the conditions of limited capacity of its thruster complex. The given control system considers not only dynamic error, but also a deviation from the desirable trajectory, and desirable laws of trajectory movement. Besides, in work the algorithm of transformation of parameters of movement on a desirable trajectory is offered. This algorithm allows to consider indirectly capacity restrictions thruster complex and to change desirable movement parameters on it trajectory..