Variable structure robust-optimal systems for control of marine vehicles

Solution that improves marine vehicles control processes automation on the basis of robust-optimal systems in conditions of dynamic models of marine vehicles and environment uncertainty is considered in the report. Synthesis procedure of control functions that implemented using special variable structures of feedback circuits is formed. In case of incomplete prior information about marine vehicle model and environment, robust circuit is synthesized with use of additional control signal that is formed by reference control system with variable structure feedback. Given approach allows decreasing error's values and energy costs.