Перегляд Періодичні наукові видання за Автор "Aloba, L. T."
Зараз показуємо 1 - 2 з 2
Результатів на сторінці
ДокументExperimental study of group control laws for an autonomous unmanned underwater vehicle as a group agent(2018) Burunina, Z. Yu.; Voitasyk, A. M.; Aloba, L. T.; Korytskyi, V. I.; Sirivchuk, A. S.; Klochkov, A. P.; Буруніна, Ж. Ю.; Войтасик, А. М.; Алоба, Л. Т.; Корицький, В. І.; Сірівчук, А. С.; Клочков, О. П.Underwater works are effectively performed with the use of underwater vehicles. The use of groups of autonomous unmanned underwater vehicles for the monitoring of big volumes of underwater space is particularly effective. In this paper, modern approaches to group control of the motion of autonomous unmanned underwater vehicles are analyzed. The composition and configuration of the system of external environment sensors are proposed; the system allows an underwater vehicle to identify the presence of objects in close proximity and the direction of their motion. The structure of the automatic control system of a group of autonomous unmanned underwater vehicles in the mode of coordinated rectilinear motion is proposed. The system is based on the principle of subordinate control with the help of fuzzy logic controllers. The results of field trials of the system operation in the adhesion and cohesion modes of two underwater vehicles confirm the operability of the proposed approach. ДокументMathematical modeling of the automatic control system for an autonomous underwater vehicle as a group agent(2018) Burunina, Z. Yu.; Aloba, L. T.; Hrudinina, H. S.; Буруніна, Ж. Ю.; Алоба, Л. Т.; Грудініна, Г. С.A mathematical model of the automatic control system for an autonomous unmanned underwater vehicle operating as a group agent has been developed. The ACS was modeled in the MATLAB Simulink software. There has been carried out the simulation of the maneuvering motion of the AUUV, in which the device maintained at a safe distance from the given agent (object of the group) in the specified distance range: the adhesion mode, or the cohesion mode. The proposed control system contains two major control units: the distance control unit and the course control unit. For the implementation of the task, fuzzy controllers of the Mamdani-type were chosen, with defuzzification via the Center of Gravity method.