This work presents the results of studies related to the design of stabilizing feedback connections for marine vessels moving along initially given trajectories. As is known, in mathematical formalization, this question leads to a problem of tracking control synthesis for nonlinear and non-autonomous plants. To provide desirable stability and performance features of the closed-loop systems to be synthesized, it is appropriate to use an optimization approach. Unlike the known synthesis methods, which are usually used within the framework of this approach, it is proposed to implement the optimal damping concept first developed by V.I. Zubov in the early 60s of the last century. Modern interpretation of this concept allows constructing numerically effective procedures of control law synthesis taking into account its applicability in a real-time regime. Central attention is focused on the questions connected with practical adaptation of the optimal damping methods for marine control systems. The operability and effectiveness of the proposed approach are illustrated by a practical example of tracking control design.

中文翻译：

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船舶跟踪控制的最优阻尼概念实现

这项工作提出了与稳定沿最初给定轨迹运动的船舶的反馈连接设计有关的研究结果。众所周知，在数学形式化中，该问题导致了针对非线性和非自治工厂的跟踪控制综合的问题。为了提供要合成的闭环系统的理想稳定性和性能特征，使用优化方法是适当的。与通常在该方法的框架中使用的已知合成方法不同，建议实施上世纪60年代初VI Zubov最初提出的最佳阻尼概念。对该概念的现代解释，考虑到其在实时系统中的适用性，可以构建数字有效的控制律综合程序。中心注意力集中在与船舶控制系统的最佳阻尼方法的实际适应有关的问题上。跟踪控制设计的一个实际例子说明了所提出方法的可操作性和有效性。