LAUSR

Abstract Modern marine robotic systems are often complex high-order dynamic systems with uncertain parameters. It is not always possible to apply common methods of controller synthesis to such systems. The research is dedicated to a problem of mathematical modeling and synthesizing motion control systems of high order for unmanned underwater vehicles. Proposed synthesis method is based on a modal approach to control and a robust control theory. The method allows setting allocation areas for dominant poles determining control quality of the system and then reducing the order of the transfer function by excluding other poles from it. Example of synthesizing a submerging speed control system via proposed method is also provided. The example shows, that the synthesis method proposed is efficient and allows successfully reducing the order.