Successive Galerkin approximations to the nonlinear optimal control of an underwater robotic vehicle

Author

McLain, Timothy W. ; Beard, Randal W.

Author_Institution

Dept. of Mech. Eng., Brigham Young Univ., Provo, UT, USA

Volume

1

fYear

1998

Firstpage

762

Abstract

The application of a new nonlinear optimal control strategy to the station-keeping control of an underwater robotic vehicle is considered. The control approach described and demonstrated here is based upon the numerical approximation of solutions to the Hamilton-Jacobi-Bellman equation. These solutions are computed by an iterative application of Galerkin´s method. Preliminary simulation results demonstrating the application of this approach to the control of an underwater vehicle in the horizontal plane are presented

Keywords

Galerkin method; approximation theory; control system synthesis; feedback; iterative methods; marine systems; mobile robots; nonlinear systems; optimal control; performance index; position control; stability; Galerkin approximations; Hamilton-Jacobi-Bellman equation; feedback; iterative method; nonlinear systems; optimal control; performance index; stability; station-keeping control; underwater robotic vehicle; Jacobian matrices; Nonlinear control systems; Nonlinear equations; Optimal control; Partial differential equations; Robots; Robust control; Sliding mode control; Uncertainty; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677069

Filename

677069