Mathematical Modelling of the Trajectory Control of the movement of a Cuttlefish-Type Undersea Bionic Reconnaissance Robot

Purpose of research. Is to develop and implement an algorithm for trajectory control of an autonomous unmanned undersea cuttlefish-type bionic vehicle, designed for reconnaissance operations, combat security of surface and undersea naval armament.

Methods. The design and principle of operation of a cuttlefish-type bionic undersea robot are presented. The design  of a three-dimensional model of a cuttlefish-type robot for military intelligence has been carried out using the SolidWorks software package. A computational dynamic scheme has been considered and a mathematical model of the movement of an undersea amphibious robot implemented in the Mathcad package has been presented. The movement of the robot is provided by wave-like movements of the elastic side fins resting against the aquatic environment and forming tractive forces in the required direction. Using the methods of computer mathematical modelling, the adequacy of the developed mathematical model of the undersea robot has been proved and the algorithm for trajectory control of the movement of the object along a given trajectory at a required speed has been worked out.

Results. The system of automatic control of the trajectory movement has been considered for the case of the movement of the robot in a horizontal plane with further passage to a given linear trajectory and maintaining the required mode of longitudinal movement at a given speed. To do this, channels to control tractive forces created by the wave-like movements of the lateral fins have been formed according to the angular and orthogonal errors. The coefficients of the controllers have been selected to ensure the asymptotic stability of the system and the required quality of transient processes.

Conclusion. The developed and implemented algorithm for trajectory control of the movement of an undersea cuttlefish-type bionic robot from various initial positions along a given trajectory showed good adequacy and high effectiveness demonstrating stability and providing the required indicators of the quality of transient processes.

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