Abstract
Abstract The paper introduces the application of the theory of deterministic sensitivity control systems for sensitivity analysis taking place in game control systems of moving objects, such as ships. The sensitivity of parametric model of game ship control process and game control in collision situations - sensitivity to changes in its parameters have been presented. First-order and k-th order sensitivity functions of parametric model of the process and game control are described. The structure of the game ship control system in collision situations and the mathematical model of game control process in the form of state equations are given. Characteristics of sensitivity functions of the model and game ship control process on the base of computer simulation in Matlab/Simulink software have been presented. At the end are given proposals regarding the use of sensitivity analysis to practical synthesis of computer-aided system navigator in potential collision situations.
Highlights
One of the most important problems arising in design of a control system consists in predicting its probable properties
We can consider features of the sensitivity functions k-th order of parametric model and sensitivity functions of optimal control in the following form: The system generates its control at the moment tk on the basis of data received from the ARPA anti-collision system pertaining to the positions of the encountered ships: (10)
The coefficients of state equations of model process have been varied within from their rated value ai and each time the anti-collision manoeuvre was simulated in Matlab/Simulink software, relative change of risk collision was calculated by using the formula (15)
Summary
One of the most important problems arising in design of a control system consists in predicting its probable properties. A sufficiently complete mathematical model of a system must reflect its basic properties, including possible dependence on parameters ; it will be called parametric model of the system. Sensitivity theory became an independent scientific branch of cybernetics and control theory in the sixties. In major part this was connected with quick development of self-tuning systems that were constructed for effective operation under parametric disturbances [10,12,26]. Land and air transport processes both own object and many encountered objects are involved Control of such processes, due to the high proportion of human subjectivity in the decision-making manoeuvre, often takes the character of game control [2,3,17,20]
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