title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð°Ð´Ð°Ð¿ÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸ÐµÐ¼ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ Ð½ÐµÐ¾Ð±Ð¸ÑÐ°ÐµÐ¼Ð¾Ð³Ð¾ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ° Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð°Ð¿ÑÐ¸Ð¾ÑÐ½ÑÑ Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾ÑÑÐµÐ¹
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: The study of adaptive control algorithms of unmanned underwater vehicles in the presence of a priori uncertainties
Creators: name: Ð¡ÐµÑÐ¾Ð², ÐÐ°Ð½Ð¸Ð»Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð°Ð´Ð°Ð¿ÑÐ¸Ð²Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð²Ð¾Ð·Ð¼ÑÑÐ°ÑÑÐµÐµ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ
adaptive control
disturbances

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description: The goal of the research is to study efficiency of AUVâs control system synthesis methods in the presence of a priory uncertainties. The objects of study are typical AUV models performing positioning operation in the presence of complex influence of disturbances. The classification of a priori uncertainties affecting the quality of AUVs control is accomplished. The existing adaptive control and disturbance compensation methods of AUVs are reviewed. The general AUV mathematical models are reviewed, their pros and cons are identified. The control system synthesis method based on the concept of inner models is analyzed. An adaptive control algorithm is proposed. A parametrical optimization method of proposed control algorithm in the presence of disturbances is introduced. A synthesis of different adaptive control algorithms for typical AUV models is accomplished. An efficiency of proposed methods and adaptive control algorithms is experimentally proven.