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Monitoring of the hydrosphere by a group of robots

The proposed article is based on mathematical models studying and development, by setting up computational experiments, of a miniature unmanned underwater vehicles (MUUV) The development and studying of systems for automated monitoring of water quality allows for the prompt real-time assessment of the environmental situation at various points in the monitoring area. The research objectives are developing mathematical models describing the process of MUUV control, as well as to develop a mathematical model of the MUUV system. The development of a MUUV group motion control is carried out to organize the sampling process. A mathematical model which describes perturbed motion is proposed and a method for the synthesis of the parameters of regulator of the control system based on the decomposition of the equations of motion of the MUUV and transient process is developed. Mathematical models of the force factors acting on the MUUV have been developed in view of external pulse disturbances. Mathematical models of control factors have been developed which ensure the motion of the MUUV with a variable thrust vector.