Mathematical modeling and synthesis of docking process control for autonomous unmanned underwater vehicle

The paper considers a problem of synthesis of the docking process control of the AUV with the container which belongs to the class of terminal control problems. The method for the synthesis of a two-level control system based on the selection of the dominant component of the state vector and predicting the dynamics of the remaining components at each control step is proposed. In this case, according to the results of the extrapolation of the dynamics to the terminal point, the value of the restriction on the derivative of the dominant component is determined. We synthesize a two-level control system for vertical docking for a specific pair of AUV - container. A thorough analysis of the synthesized control system based on the developed mathematical model is carried out.