System of automatic stabilization of underwater vehicle in hang mode with working multilink manipulator

In this work the synthesis method of combined closed-loop automatic system of underwater vehicle position and orientation stabilization in hang mode (station keeping regime) is described. Underwater vehicle invariance to external influences created by working underwater manipulator is provided by thrusts of vehicle screws. These thrusts are proportional to said external influences calculated in real time scale. For precise calculation of these influences the recursive algorithm for solving of inverse problem of underwater manipulator dynamic was developed. Presented algorithm allows to take into account all features of viscous environment influences on manipulator links committing random movements at high speed. To increase accuracy of underwater vehicle stabilization additional automatic closed-loop systems for all linear and angular movement of this vehicle was synthesized. Said systems can use data obtained from high-precision navigation onboard sensors and devices.