Abstract
A unified optimization approach is proposed which leads to efficient feedforward and feedback control of various-type marine systems (MS). For the feedforward control synthesis, a direct-search optimization algorithm is developed, in which parameterized control laws consistent with Pontryagin’s maximum principle are used. The given two-point boundary-value problem is transformed into a system of shooting equations with guaranteed existence of solutions. The feedback control design is based on optimal trade-off relationships between bounds of disturbances and control force limits. The control optimization approach is applied to a full dynamic model of an underwater vehicle in the case of planar motion.
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