Highly Autonomous Underwater Vehicle Control Systems Synthesis via Asymptotic Methods

The work is devoted to the actual problem of control system design for underwater vehicles with a high level of autonomy. The article proposes an asymptotic method for separating motions in conjunction with a probabilistic analysis of a possible deviation from a given trajectory as a result of the impact of random disturbances. Approbation of the method was carried out by simulating an underwater vehicle with two rudders (bow and stern) in the problem of longitudinal motion control at a constant speed at a given depth. As a result, it was shown that if accelerations are formed by fast subsystems, then in slow subsystems it is possible not only to achieve acceptable quality and accuracy over a fixed interval, but also to ensure this regardless of the effect of disturbances. Moreover, in this paper, we present the main relations for controlling deviations from a given trajectory during the motion of a slow subsystem.