Numerical method for correcting command signals for combined control of a multiengined complex

Abstract

The article describes a synthesis of a numerical method for compensating distortions in the control system of underwater tele-controlled uninhabited vehicles, consisting of a multiengine system, simultaneously performing the functions of a propulsion unit and a steering device. Combinations of control signals create the predominant type of movement and, at the same time, maneuvering of the vehicle. When two types of signals are generated on the same propellers, distortions occur, leading to errors in the semi-automatic (operator control) and programmed types of movement, while the actual type of propulsive movement and the propulsive force of the thrust devices of the vehicle propellers will differ from the specified (expected) ones. The proposed approach is universal and, under certain assumptions, can be used for any uninhabited robotic systems, including quadcopters.