H∞-Approach to Wave Disturbance Filtering for Marine Autopilots

The subject of the paper is consideration of the analytical synthesis problem for the marine vehicles autopilots design. The complexity of this problem is determined by the presence of an extensive population of certain dynamical conditions, requirements and restrictions that essentially hampers the using of synthesis methods in framework of classical control theory. In this connection the mentioned problem can be decoupled into particular optimization problems on the base of a special unified multipurpose structure of control law. In particular, this structure includes dynamical filter to provide desirable features for the vehicle motion under sea wave actions. A specialized method of the filter design is proposed on the base of modern H∞-optimization theory.