Maneuvering Algorithms of a Small-sized Underwater Robot

The article considers the problem of motion control of an underwater robot in space. The main objectives in this area were obtained for torpedo-shaped underwater vehicles, the dynamics of which differ significantly from the dynamics of the object under study. In this regard, there is a need to build a mathematical model of the apparatus's movement and select motion control algorithms, on the basis of which remote control can be implemented. The structure of a fuzzy controller for maneuvering underwater robots in the horizontal plane with a programmed change in the angle of heel, as well as ways to configure it is proposed. The results of the modeling controlled movement of the underwater vehicle in the horizontal plane are presented, showing the efficiency of the fuzzy control in comparison with the proportional-differential controller. The results can be used to build automatic control systems for the spatial movement of the underwater vehicle.