A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE

George Nikolakopoulos, Nikolaos J. Roussos, Kostas Alexis

2010

Abstract

In this paper a Constrained Finite Time Optimal Controller (CFTOC) is designed and applied to the diving and steering problem of an Autonomous Underwater Vehicle. The non–linear model of the AUV is presented and the decoupled linear models for the steering and diving motions of the vehicle are derived, based on certain modeling assumptions and simplifications, while the cruising speed of the vehicle is considered to be small and constant. The proposed control scheme has the merit to take under consideration: a) the mechanical and physical constrains of the AUV, b) uncertainties produced from modeling errors and environmental noise, c) constrains in the motors, and produce an optimal controller for the vehicle that will guarantee the stability of the closed loop system. The proposed CFTO–controller is applied to simulation studies and relevant simulation results are presented that prove the efficacy of the proposed scheme.

Paper Citation

in Harvard Style

Nikolakopoulos G., J. Roussos N. and Alexis K. (2010). A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 260-267. DOI: 10.5220/0002948202600267

in Bibtex Style

@conference{icinco10,
author={George Nikolakopoulos and Nikolaos J. Roussos and Kostas Alexis},
title={A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={260-267},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002948202600267},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE
SN - 978-989-8425-01-0
AU - Nikolakopoulos G.
AU - J. Roussos N.
AU - Alexis K.
PY - 2010
SP - 260
EP - 267
DO - 10.5220/0002948202600267