Nonlinear Regulators for Deduction of the Vessel on the Set Trajectory at "Strong" Maneuvers

Abstract

Researches are part of works on creation of the small size robotic research vessel for complex environmental monitoring of the sea coastal water area of the Black Sea, and also lakes and the rivers, with basing in Sevastopol. On the basis of the created analytical nonlinear model of the vessel of catamaran type with two rudder propellers, considering its mass-dimensional and traction characteristics, the initial and simplified ways of management of angular speed and ship's heading at strong maneuvers with the use of the method of final states are developed. Strong maneuvers in navigation are understood as maneuvers with big corners of turn of wheels when the linearized models of vessels are inapplicable. The developed ways of management have appearance of the simple structures which obviously depend on the setting influence, length of the vessel, emphasis of rudder propellers, vessel moment of inertia, and also the known nonlinear functions of current status — speeds on longitudinal and cross axes of the vessel, angular speed and turning angle of rudder propellers. In the simplified way values of measurements of speeds are not used.