Journal
Scientific and technical journal «Priborostroenie»
UDK681.53
Issue:9 (58)
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ROBUST SYSTEM OF DYNAMIC POSITIONING FOR ROBOTIZED MODEL OF SURFACE CRAFT
Annotation
A robotic setup for surface craft movement modeling is presented. The setup is used for testing of algorithms of control over dynamic positioning and external disturbances effects compensation systems. Mathematical model of the robotic system is analyzed; the multi-channel model is decomposed to separate a static function and independent single input — single output dynamic channels. A robust system for dynamic positioning of the craft based on consequent compensation control law is developed. Results of experimental study are demonstrated.
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