Abstract

The structure of a dual-mode robust control system of a descent underwater vehicle connected by a cable-rope with a carrier-ship was developed on the basis of a multimode control. This system is intended for oscillation damping of a descent underwater vehicle under the conditions of sea disturbance. We obtained the models of control systems of a descent underwater vehicle for its lowering-lifting and attitude stabilization mode. These models take into account interval data, distribution and nonlinearity of the parameters of the link «cable-underwater vehicle». System stimulation of a dual-mode robust control system of a descent underwater vehicle with a synthesized PI controller was carried out.

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