Abstract

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. Two different numerical methods are used in this study, a function space conjugate gradient (CG) method, and a control vector parameterization (CVP) method. Energy-optimal trajectories were computed in simulation experiments. Good results were achieved with the CVP method, which was superior to the CG method. >

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.