Computing energy-optimal trajectories for an autonomous underwater vehicle using direct shooting
Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators ar...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1992-07-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1992/MIC-1992-3-4.pdf |
| Summary: | Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators are modeled and controlled with velocity loops. The dissipated energy is expressed in terms of the control variables as a nonquadratic function. Direct shooting methods, including control vector parameterization (CVP) arc used in this study. Numerical calculations are performed and good results are achieved. |
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| ISSN: | 0332-7353 1890-1328 |