Optimal Control of an Underwater Vehicle with Single Actuator

2007 ◽  
Author(s):  
Mehmet Selcuk Arslan ◽  
Naoto Fukushima ◽  
Ichiro Hagiwara
Keyword(s):  
Optimal Control ◽  
Underwater Vehicle

scholarly journals Optimal Control of a Surface Vehicle to Improve Underwater Vehicle Network Connectivity

2012 ◽  
Vol 9 (1) ◽  
pp. 1-13 ◽  
Author(s):  
Camila C. Françolin ◽  
Anil V. Rao ◽  
Christiane Duarte ◽  
Gerald Martel
Keyword(s):  
Optimal Control ◽  
Network Connectivity ◽  
Underwater Vehicle ◽  
Vehicle Network

Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance

2014 ◽  
Vol 602-605 ◽  
pp. 970-973 ◽  
Author(s):  
Hua Mu ◽  
Jian Yuan
Keyword(s):  
Optimal Control ◽  
Linear System ◽  
Feedback Linearization ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Linearization Method ◽  
Control Law ◽  
Control Scheme ◽  
System States ◽  
Feedback Optimal Control

The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

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