ipso-sqp algorithm for solving time optimal bang-bang control problems and its application on autonomous underwater vehicle

in this paper, an integration of improve particle swarm optimization (ipso) incombination with successive quadratic programming (sqp) so called ipso-sqpalgorithm is proposed to solve time optimal bang-bang control problems. theprocedure is found not sensitive to the initial guess of the solution. due to randomselection in the first stage of the search process, the chance of converging to theglobal optimum is significantly increased, without sticking in a local optimum. thecombined technique gains both advantages of its original algorithms. the ipsodirectly minimizes the cost function without the need for gradient-based techniques.the performance of the outcome will be increased when the sqp immediatelyundertakes the optimization task. this is shown via applying those on some othernonlinear systems. consequently, the proposed algorithm is successfully applied ona time optimal bang-bang control of an autonomous underwater vehicle. a pitchprogrammingtask is also investigated for the autonomous underwater vehicle bydesigning an optimal pid controller .