Mathematical modeling of the automatic control system for an autonomous underwater vehicle as a group agent

Abstract

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.