Guaranteeing Desired Dynamics of Motion Control System of Unmanned Underwater Vehicle Despite Disturbances and Interval Parametric Uncertainty

Abstract

In order to provide an aperiodic transient process for motion control systems of unmanned underwater vehicles despite parametric disturbances, a procedure of linear controller synthesis was developed. The procedure of parametric synthesis is based on controller parameters division in unrestricted and dependent parameters, which can be calculated with the help of interval mathematics and D-partition method. On a base of the proposed approach parameters values of PI-controller of underwater vehicle motion control system were found. In order to prove synthesis results step responses and triparametric interval root locus were plotted.