17th International Symposium on
Mathematical Theory of Networks and Systems
Kyoto International Conference Hall, Kyoto, Japan, July 24-28, 2006

MTNS 2006 Paper Abstract

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Paper MoP11.1

Chyba, Monique (Univ. of Hawaii), Haberkorn, Thomas (Univ. of Hawaii)

Optimization Techniques for Autonomous Underwater Vehicles: A Practical Point of View

Scheduled for presentation during the Mini-Symposium "Recent Developments in Optimal Control: Theory and Applications" (MoP11), Monday, July 24, 2006, 15:20−15:45, Room 104a

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Optimal control, Control of nonlinear systems, Physics

Abstract

The main focus of this paper is to design time efficient trajectories for underwater vehicles. The equations of motion are derived from Lagrangian mechanics and we assume bounds on the controls. We develop a numerical algorithm based on the time optimal trajectories. Our goal is to design controls that are piecewise constants with a small number of switchings and such that the duration for the vehicle to achieve the trajectory differs from the time optimal one by a number negligible in terms of the application.