M.M. Chirkova, T.I. Gavrilova, E.N. Poselenov
The course-unstable mobile object (river vessel) is observed in this paper. Statics and dynamics of such objects vary with the change of the state of the external circumstance. This feature eliminates the possibility of using autopilot with classical PD-algorithm with constant coefficients. The absence of the external circumstance detector requires the development of intellectual steering algorithm with parameters continuously change as a function of the control quality criteria.