SYMBOLIC SYNTHESIS OF CONTROL LAWS FOR UNDERWATER VEHICLE AND ROBOT MANIPULATOR

This paper deals with the problem of the automation of design procedures for nonlinear control systems. As an example the procedure has been realized for the well-known technique consisting of the exact linearization via nonlinear feedback. The developed software achieves the synthesis of control laws in symbolical form that is convenient for further analysis, modeling, and practical implementation of the system. Examples of the software application to underwater vehicle and robot manipulator are given and discussed.