SYNTHESIS OF OPTIMAL CONTROL OF A VESSEL WITH BOUNDARY CONDITIONS
Abstract
The aim of the work is the synthesis of optimal control of the movement of the vessel from a adjusted initial state to the desired end. Such controls arise in solving search and rescue tasks, approaching mooring objects, including mobile ones, in other applied tasks. This goal is achieved by using the maximum principle, the shooting method and a simplified mathematical model of the vessel with an increased integration step, as a tool for the method of shooting. The efficiency of the algorithms has been verified by mathematical modeling of the control object in a closed circuit with a control system, taking into account external influences. The developed algorithms can be applied in the synthesis module of the optimal control of the movement of vessels, other control problems solved in real time.
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