Optimal and adaptive control of underwater vehicles
This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm ofJohansson (1990) and a modification of the algorithm found in Sagatun (1992). The algorithm is optimal in the se...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1994-10-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1994/MIC-1994-4-3.pdf |
| _version_ | 1818833587034652672 |
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| author | Svein I. Sagatun Rolf Johansson |
| author_facet | Svein I. Sagatun Rolf Johansson |
| author_sort | Svein I. Sagatun |
| collection | DOAJ |
| description | This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm ofJohansson (1990) and a modification of the algorithm found in Sagatun (1992). The algorithm is optimal in the sense that it minimizes the state errors and the forces which contribute to the vehicle's kinetic energy that is spent to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping. |
| first_indexed | 2024-12-19T02:21:17Z |
| format | Article |
| id | doaj.art-a3be0f60f5ec426abaf66f7df5235412 |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-12-19T02:21:17Z |
| publishDate | 1994-10-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-a3be0f60f5ec426abaf66f7df52354122022-12-21T20:40:12ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281994-10-0115424525210.4173/mic.1994.4.3Optimal and adaptive control of underwater vehiclesSvein I. SagatunRolf JohanssonThis article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm ofJohansson (1990) and a modification of the algorithm found in Sagatun (1992). The algorithm is optimal in the sense that it minimizes the state errors and the forces which contribute to the vehicle's kinetic energy that is spent to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping.http://www.mic-journal.no/PDF/1994/MIC-1994-4-3.pdfOptimal controladaptive control |
| spellingShingle | Svein I. Sagatun Rolf Johansson Optimal and adaptive control of underwater vehicles Modeling, Identification and Control Optimal control adaptive control |
| title | Optimal and adaptive control of underwater vehicles |
| title_full | Optimal and adaptive control of underwater vehicles |
| title_fullStr | Optimal and adaptive control of underwater vehicles |
| title_full_unstemmed | Optimal and adaptive control of underwater vehicles |
| title_short | Optimal and adaptive control of underwater vehicles |
| title_sort | optimal and adaptive control of underwater vehicles |
| topic | Optimal control adaptive control |
| url | http://www.mic-journal.no/PDF/1994/MIC-1994-4-3.pdf |
| work_keys_str_mv | AT sveinisagatun optimalandadaptivecontrolofunderwatervehicles AT rolfjohansson optimalandadaptivecontrolofunderwatervehicles |