Aerospace Instrument-Making Annotation << Back Complexed control of air and river ships with linear and relay regulation to achieve maximum speed of hitting the beach in a specified terminal point Lebedev G.N. Vu Xuan Huong Gorbachev Yu.V. Currently docking of ships and other floating devices for manual operation has a significant drawback – the time to stop the ship in the right place at the marina is too large, or if an effort to speed up this process there are inevitable terminal errors that require further maneuvering in the dock. The problem of improving per-formance while achieving a given end-point with zero final velocity. Proposed complexed control longitudinal and lateral movements of the vessel by means of coordinating the interaction of linear and switching relay controllers that provide the terminal phase of a terminal high accuracy position and velocity. The object of control is used airship or river ship in docking mode, taking into account the neg-ative impact of external disturbances hitting the beach. Key words: ship, optimal control, linear, relay, regulator, disturbance. Contacts: E-mail: kaf301@mai.ru Pp. 44-51.