Optimality for underwater vehicles - Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
نویسنده
چکیده
In this paper, we study time-optimal trajectories for fully actuated planar underwater uehicles, with constraints on input forces. Using the Maximum Principle, we focus on the structure of singular extremals and their possible optimality.
منابع مشابه
Accuracy enhancing methods for the frequency-weighted balancing related model reduction - Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
In this paper we develop computational techniques with enhanced accuracy for two frequency-weighted model reduction approaches, namely, balanced truncation, and singular perturbation approximation. New stability-enforcing choices of the frequency-weighted grammians can guarantee the stability of reduced models for two-sided frequency weights. Several numerical examples show the effectiveness of...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملMulti-Modal Control of Systems with Constraints
In multi-modal control paradigm, a set of controllers of satisfactory performance have already been designed and must be used. Each controller may be designed for a different set of outputs in order to meet the given performance objectives and system constraints. When such a collection of control modes is available, an important problem is to be able to accomplish a variety of high level tasks ...
متن کاملOptimality for underwater vehicles
In this paper, we study time-optimal trajectories for fully actuated planar underwater vehicles, with constraints on input forces. Using the Maximum Principle, we focus on the structure of singular extremals and their possible optimality.
متن کاملStability and reachability analysis of a hybrid model of luminescence in the marine bacterium Vibrio fischeri
This paper addresses the mathematical modeling and analysis of the quorum sensing system found in unicellular bacteria that exhibit bioluminescence. The luminescence is governed by the expression of genes in the cell, which in turn is controlled by the density of cells in a population. The paper illustrates the application of standard tools in control theory and some recent tools in hybrid syst...
متن کامل