M.M. Chirkova, A. V. Preobrazhensky, A.V. Romanov
The essential changing of river vessel controllability by environment influence and existence of measureless state coordinates (angle of drift) prevent from mathematical model using for the purpose of taking control solution. Control algorithm may be constructed on a base of diagnostics and detour of relaxed controllability regions.
The method of identification of arrangement and dimensions of relaxed controllability regions is suggested.