A method for forming program control for velocity regime of motion of underwater vehicles along arbitrary spatial trajectories with given dynamic accuracy

An approach to precise control of motion of an underwater vehicle is proposed; this approach consists in an automatic correction of program motion signals such that the execution of these new program signals provides precise motion of the underwater vehicle along a given spatial trajectory with maximum possible velocity irrespective of dynamic error of the control system of this underwater vehicle. The program signals of motion of the underwater vehicle are corrected by shifting the target point specifying the desired position of the underwater vehicle on a given trajectory by a value proportional to the vector of deviation of the underwater vehicle from this trajectory and simultaneous adjustment of the desired velocity of the underwater vehicle. The results of mathematical simulation have shown that the application of the proposed method provides exact and maximally fast motion of the underwater vehicle along the given spatial trajectory using simple standard linear controllers in the control system of this underwater vehicle.