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Finding Area of Desired Control Quality of an Unmanned Underwater Vehicle Motion in a Plane of Its Construction Parameters

Sergey A. Gayvoronskiy 1, Tatiana Ezangina 1, Ivan Khozhaev 1, and Alla Nesenchuk 2
1. School of Computer Science and Robotics, National Research Tomsk Polytechnic University, Tomsk, Russia
2. United Institute of Informatics Problems of the National Academy of Sciences of Belarus, Minsk, Republic of Belarus

Abstract—The paper is dedicated to solving a problem of finding the area of values of unmanned underwater vehicle construction parameters providing desired oscillability degree of its motion control system with interval parameters. Construction parameters such as unmanned underwater vehicle length and maximal diameter, which are primary parameters, are linked with secondary parameters of unmanned underwater vehicle motion control system included in coefficients of its interval characteristic polynomial such as added masses of water and hydrodynamic coefficients. Authors propose a method of estimating unmanned underwater vehicle construction parameters by finding intervals of characteristic polynomial coefficients providing desired motion control quality. Example of the proposed method application is also provided.

Index Terms—construction parameters, interval parameters, oscillability degree, interval characteristic polynomial, unmanned underwater vehicle, sixth term

Cite: Sergey A. Gayvoronskiy, Tatiana Ezangina, Ivan Khozhaev, and Alla Nesenchuk, "Finding Area of Desired Control Quality of an Unmanned Underwater Vehicle Motion in a Plane of Its Construction Parameters," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 10, pp. 1427-1431, October 2020. DOI: 10.18178/ijmerr.9.10.1427-1431

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.