Introduction: The continuous improvement of autonomous underwater vehicles, the complexity of their systems and the use of a hybrid energy supply system have led to the need of developing a control system using multi-agent technology. To date, a large number of styles of multi-agent architectures have been formed, mainly in the field of organizing the manufacture and developing software. It is important to choose the most suitable architecture style for a multi-agent control system of an autonomous underwater vehicle with a hybrid energy supply system, taking into account its features. Purpose: The development of a method for choosing the most suitable style of a multi-agent architecture among a variety of alternative options. Method: The developed method is based on comparative assessment of various architecture styles according to non-functional requirements. For this purpose, a target graph is specially developed, taking into account the features of the device to be designed. In addition, when generating the final result, the label distribution algorithm was used as the most suitable one for this problem. Results: The proposed method of choosing the architecture style includes the following components: developing indicators by which it is advisable to compare the alternative options; forming various styles of architectures most suitable for the device under construction; analyzing the positive and negative effects of the architecture style according to non-functional requirements; formalizing these influences in the form of qualitative or quantitative labels; obtaining the final grade by applying the label distribution algorithm. Practical relevance: The proposed method allows you to select the most appropriate architecture for a multi-agent control system of an autonomous underwater vehicle. The method can also be used for a wider range of ground-based and air-based robotic systems.
Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle
