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Significance Analysis of Connections in a Multivariable Mathematical Model of an Unmanned Underwater Vehicle for Common Motion Trajectories

Sergey A. Gayvoronskiy, Ivan V. Khozhaev, and Tatiana A. Ezangina
National Research Tomsk Polytechnic University, Tomsk, Russia

Abstract—Unmanned underwater vehicles often are to move effectively in all six degrees of freedom during their missions. To control such motion effectively it is necessary to synthesize an automatic system of motion control which would manipulate thrusters of underwater vehicle considering interactions between all degrees of freedom. Synthesizing such control system is a complex problem requiring sophisticated methods of synthesis, which becomes more complex if it is necessary to consider uncertainty of systems parameters and its non-linearity of its elements during the synthesis procedure. This makes a problem of reducing a number of interconnections between manipulated parameters of underwater vehicle motion highly relevant. Authors propose a method of assessing a significance of each interconnection on a base of simulation modeling of underwater vehicle motion along most common trajectories used during mission planning. This will allow to replace a full-dimensional control system with a multimodal control system consisting of a set of low-dimensional control systems controlling the motion along of each common trajectory. This will lead to significant simplification of synthesizing controllers. The method is based on original models of elements of a motion control system. Further research will be dedicated to software implementation of the assessment method and testing it on an unmanned underwater vehicle prototype.

Index Terms—mathematical modeling, underwater vehicle, motion control system, MIMO-system, simulation modeling

Cite: Sergey A. Gayvoronskiy, Ivan V. Khozhaev, and Tatiana A. Ezangina, "Significance Analysis of Connections in a Multivariable Mathematical Model of an Unmanned Underwater Vehicle for Common Motion Trajectories," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 1, pp. 7-11, January 2021. DOI: 10.18178/ijmerr.10.1.7-11