Synthesis of a system of automatic calculation of program signals for controlling motion of an underwater vehicle along a complex spatial trajectory

A new approach to accurate motion control of underwater vehicles is suggested. It consists in automatic calculation of program signals allowing the vehicle moving with variable speed along a spatial trajectory to pass separate trajectory segments as fast as possible. The desired speed of the underwater vehicle is calculated based on the maximum admissible deviation from the given trajectory and the norm of the dynamic error vector. Results of mathematical simulation substantiated workability and high efficiency of the proposed approach and the synthesized system of automatic calculation of program signals of accurate spatial motion of the underwater vehicle.