Optimal Kinematic Control of an Autonomous Underwater Vehicle

DOI10.1109/TAC.2009.2017966MaRDI QIDQ4974661zbMATH OpenOpenAlexFDO

Authors William Holderbaum, James Biggs

Publication date 8 August 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2009.2017966

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Hamilton's equations (70H05) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(16)

• Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group
• Optimal control of the motion of a helical body in a liquid using rotors
• Fast fixed-time vertical plane motion control of autonomous underwater gliders in shallow water
• Modelling and simulation of a robust energy efficient AUV controller
• Synthesis of a system of automatic calculation of program signals for controlling motion of an underwater vehicle along a complex spatial trajectory
• Inverse optimal self-tuning PID control design for an autonomous underwater vehicle
• Trajectory Optimization Strategies for Supercavitating Underwater Vehicles
• Asymptotics of extremal controls in the sub-Riemannian problem on the group of motions of Euclidean space
• A method for forming program control for velocity regime of motion of underwater vehicles along arbitrary spatial trajectories with given dynamic accuracy
• Stabilization of coordinated motion for underwater vehicles
• Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
• Tracking Control for an Ellipsoidal Submarine Driven by Kirchhoff's Laws
• Integrable quadratic hamiltonians on the Euclidean group of motions
• A Lie group PMP approach for optimal stabilization and tracking control of autonomous underwater vehicles
• Control of the motion of a triaxial ellipsoid in a fluid using rotors
• Lifelong safe optimal adaptive tracking control of nonlinear strict-feedback discrete-time systems

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