Optimal Control of an Underwater Vehicle with Single Actuator

This paper introduces the application of a new control method for a nonholonomic underwater vehicle (NUV). The NUV is a nonlinear and underactuated system; and it necessitates a special control approach because it possesses only one actuator. In the control method, which keeps the general structure of an optimal control approach, the functional defining performance index is based on energy flows within the dynamic system, and between the system and its environment. The applied control method, therefore, allows obtaining the analytical solution by minimizing the functional which includes system characteristics through power equation. The control system of the NUV is developed and simulated by a software tool. Our simulation results show that the NUV can reach a designated target by means of a single actuator.