Title :
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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677069
