Optimal control of an autonomous underwater vehicle

Author

Wadoo, Sabiha A. ; Sapkota, Sadiksha ; Chagachagere, Keerthish

Author_Institution

Dept. of Electr. & Comput. Eng., New York Inst. of Technol., Old Westbury, NY, USA

fYear

2012

fDate

4-4 May 2012

Firstpage

1

Lastpage

6

Abstract

This paper presents the optimal control of the kinematic model of an autonomous underwater vehicle. An optimal feedback control methodology is developed for the trajectory tracking of underwater vehicles. The motion of underwater vehicles is presented first as a kinematic model. For the design of feedback control, the system is linearized and transformed into a chained form. The control for trajectory tracking of the kinematic model is presented as an H-2 optimal design. Formulating LQG as H-2 optimization is useful as it can be generalized to include frequency-domain performance specifications.

Keywords

H² control; autonomous underwater vehicles; control system synthesis; feedback; frequency-domain analysis; linear quadratic Gaussian control; linear systems; motion control; trajectory control; H-2 optimization; LQG; autonomous underwater vehicle; frequency-domain analysis; kinematic model; linear system; motion control; optimal feedback control; trajectory tracking; Kinematics; Mathematical model; Optimal control; Trajectory; Underwater vehicles; Vectors; Vehicles; H-2; optimal control; robust control; underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Applications and Technology Conference (LISAT), 2012 IEEE Long Island

Conference_Location

Farmingdale, NY

Print_ISBN

978-1-4577-1342-2

Type

conf

DOI

10.1109/LISAT.2012.6223100

Filename

6223100