Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel

Abstract

The paper is devoted to several examples of control algorithm development for two-wheeled double-track robot and low-tonnage vessel-catamaran with two Azipods that show practical aspects of the application of one nonlinear system control method — terminal state method. This method, developed by the authors of the present paper, belongs to the class of methods for inverse dynamics problem solving. Mathematical models of control objects in the form of normal systems of third-order nonlinear differential equations for the wheeled robot and seventh-order ones for the vessel are presented. Design formulas of the method in general form for terminal and stabilizing controls are shown. A routine of obtaining calculation expressions for control actions is shown. Results of computer simulation of bringing the robot to a given point in a given time, as well as bringing the vessel to a given course during a “strong” maneuver, are described.