ANALYSIS OF THE DYNAMICS AND CONTROL OF THE SPATIAL MOVEMENT OF THE VESSEL AS A NONLINEAR DYNAMIC SYSTEM
The study analyzes the issues of controlled vessel movement as a nonlinear multi-channel object with respect to smooth surfaces (submanifolds) of the space of output variables. To obtain models of longitudinal and relative dynamics and partial decomposition of an object, coordinate transformation methods and dynamic properties of the movable basis of a two-plane surface are used. A closed control algorithm is synthesized that provides local stability of the surface as an attractor of the system and the desired longitudinal dynamics. To represent the features of the approach, the organizations of spatial movement along flat curves and surfaces of three-dimensional space are applied.