The basic algorithms of adaptive position-trajectory control system of mobile objects

The paper describes the algorithms of adaptive control systems for mobile object. The problem is positioning to point, assuming parametric uncertainty and unmeasured disturbances affecting the mobile object. Basic computation algorithms of control forces and moments are synthesized using the method of position-trajectory control. The structure and algorithms of adaptive position-trajectory system with the reference model are proposed. Carried out is the synthesis of adaptive regulator and stability analysis of the closed system. An example of the regulator synthesis is given and the simulation results for autonomous underwater vehicle are shown.