Modeling of evolutions of a small-sized vessel – module of the type of an automatic object intended for func-tioning in the port zone, with elements of variable load when servicing transport vessels and marine objects, as technical controllability in automatic mode, in the algorithm of necessary and sufficient conditions under which the object has technical controllability is investigated. The methods of finding areas in the space of generalized coordinates of the movement of an object in which it remains technically controllable are proposed, the results of applying the concept of technical controllability, in the area of a given degree of technical controllability, with the minimum necessary vector of restrictions on the control of the object are shown
evolution; module; algorithm; vector; method; manipulator; dynamic; mass-inertial indicators; technical controllability; local autonomy; inertia
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