Author(s)

Z. Kitowski & J. Gams

Abstract

In the paper a principle of operation and a structure of a self-adapting control system of the underwater vehicle's motion is presented. Identification of the vehicle's dynamics enables to chose a suitable algorithm of motion, determine quasi-optimal commands, compensate an influence of environmental disturbances and lead the vehicle along a desired trajectory. 1 Introduction Assurance of suitable manoeuvrability of an underwater vehicle is the main problem during its designing, constructing and later using. That is closely connected with the vehicle's adaptability for changes of external situation and a choice of a such structure of the control system which assure required accuracy and safety of motion. A mathematical description of operational requirements of the underwater

Keywords