Nowadays, underwater robotics is widely used. Modern market provides thousands of tethered underwater systems of different types. One of these types becomes increasingly important; at the same time, it is almost absent in the market of underwater robots and in the theoretical research. It is a tethered self-propelled underwater cargo system. Relevance of this direction for Ukraine is associated with development of radiohydroacoustics and other devices of defense purposes that are manufactured as specialized cargos that are planned to be applied for the state water areas and for export. This article suggests organization of automated control of a tethered self-propelled underwater cargo system based on an underwater robot of the transport type relying on the subsequent synthesis of a mathematical model of the propulsive complex of the controlled object. Description of the underwater vehicle of the transport type as the controlled object is presented.

Запропоновано самохідну прив’язну підводну вантажну систему з підводним-апаратом роботом нового архітектурно-конструктивного типу, рушійно-кермовий комплекс якого містить вісім однотипних рушійних пристроїв виду «гребний гвинт в трубі».

Предложено самоходную привязную подводную грузовую систему с подводным аппаратом-роботом нового архитектурно-конструктивного типа, движительно-рулево