ASYMPTOTIC METHODS IN PROBLEMS OF SUPERVISORY CONTROLOF AUTONOMOUS UNDERWATER ROBOTS
Journal: Izvestiâ ÛFU. Tehničeskie nauki
Year: 2023

The work is devoted to the relevant problem of control synthesis for autonomous underwater vehicles(AUVs). Since AUVs must perform actions in accordance with a given program under conditionsof a volatile predictable environment, it is necessary to provide working tools, the use of which, togetherwith the AUV position and orientation control requires, along with continuous local stabilization means,implementation of supervising and coordinated control algorithms at the upper level. Such a two-lev