General characteristics of systems with fuzzy logic are given. A technique for the synthesis of a fuzzy motion control system for an autonomous underwater robot is proposed. Different fuzzy control systems are compared. The results of modeling are presented.

The aim of the study is to select the Kalman filter synthesis method for control problems. The first method is based on an extension of the filter state vector. The second method is based on the information distribution principle. For this, mathematical models for inertial measurement unit with both filters are considered. The results of filter measurement experiments are performed.

The article considers the problem of vertical control of a remote-controlled underwater robot. In this regard, there is a need to build a mathematical model of the robot’s movement and the choice of motion control algorithms, on the basis of which remote control can be implemented. The article substantiates the approach to constructing a mathematical model of underwater vehicles of small elongation, proposes a complete model of spatial motion, corresponding to the results of field tests of the robot. The structure of a fuzzy controller for controlling the stabilization of the speed of the robot, as well as ways to conFigure it is proposed. The results of modeling and testing the controlled motion of an underwater robot in a vertical plane are presented, showing the effectiveness of fuzzy control compared to a proportional differential controller. The results can be used to build automatic control systems for the spatial movement of an underwater robot.

The article considers the problem of motion control of an underwater robot in space. The main objectives in this area were obtained for torpedo-shaped underwater vehicles, the dynamics of which differ significantly from the dynamics of the object under study. In this regard, there is a need to build a mathematical model of the apparatus’s movement and select motion control algorithms, on the basis of which remote control can be implemented. The structure of a fuzzy controller for maneuvering underwater robots in the horizontal plane with a programmed change in the angle of heel, as well as ways to configure it is proposed. The results of the modeling controlled movement of the underwater vehicle in the horizontal plane are presented, showing the efficiency of the fuzzy control in comparison with the proportional-differential controller. The results can be used to build automatic control systems for the spatial movement of the underwater vehicle.