Nonlinear Regulators for Deduction of the Vessel on the Set Trajectory at "Strong" Maneuvers
Journal: SPIIRAS Proceedings
Year: 2017

Researches are part of works on creation of the small size robotic research vessel for complex environmental monitoring of the sea coastal water area of the Black Sea, and also lakes and the rivers, with basing in Sevastopol. On the basis of the created analytical nonlinear model of the vessel of catamaran type with two rudder propellers, considering its mass-dimensional and traction characteristics, the initial and simplified ways of management of angular speed and ship's heading at strong mane