Automation of processes of robust-optimal control of marine motion object in the dynamic positioning mode

The solution of the problem of improving the level and quality of control processes automation of marine movable objects (MMO) in dynamic positioning mode based on robustoptimal systems with variable feedback structure in conditions of uncertainty is considered. Robust channel was added to control system to ensure the required level of invariance to uncontrollable external perturbations and parametrical uncertainty of mathematical model of MMO. The results of simulations that demonstrate the effectiveness of the proposed approach are given.