Сборники тезисов • Экономика и гуманитарные науки • Иностранный язык как средство современного научного и профессионального общения
Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, 2016.
Algorithms for marine robot
УДК: 681.5.015
Аннотация:
The goal of this work was to synthesize control algorithms for surface vessel. First-Order Nomoto Model was chosen for further research. Two algorithms for identification were chosen: the least square method and gradient algorithm. They allowed to get estimated parameters of the robotic model of surface vessel. In this work three control algorithms for surface vessel were synthesized: proportional-derivative, proportional-integral-derivative and consecutive compensator. Research trials confirmed the efficiency of these algorithms for robotic model of surface vessel.