Special Controller Design for Implementation the Desired Motion of the Moving Object

Abstract

Nowadays the problem of automatic motion control systems design for different moving objects, particularly for marine vessels, that perform a wide spectrum of missions, has received significant attention in various scientific investigations. In regard to the continuous expansion of the range of requirements to such systems, and the growing capabilities of the devices that implement the control laws, there is a need to use special control laws, allowing to take into account the complex of conditions, requirements and restrictions that must definitely be performed in all modes of operation of the rolling object. This paper provides a general idea of ​​the design and transformation of the stabilizing controller for its use for the implementation the desired motion of the object, as well as to achieve astaticism in the presence of step disturbances. Particular attention is paid to the problem of transfer the control object from an arbitrary starting point to a given endpoint using a nonlinear control law, as well as ensuring the asymptotic stability of motion in the absence of disturbances. At the same time the proposed controller ensures the providing of the astatism in relation to permanent external influences. #CSOC1120.