This note investigates the motion control of an autonomous underwater vehicle (AUV). The AUV is modeled as a nonholonomic system as any lateral motion of a conventional, slender AUV is quickly damped out. The problem is formulated as an optimal kinematic control problem on the Euclidean Group of Motions SE(3), where the cost function to be minimized is equal to the integral of a quadratic function of the velocity components. An application of the Maximum Principle to this optimal control problem yields the appropriate Hamiltonian and the corresponding vector fields give the necessary conditions for optimality. For a special case of the cost function, the necessary conditions for optimality can be characterized more easily and we proceed to ...
This paper presents the stabilization of a relative equilibrium of an underactuated autonomous under...
Mechanical control systems have become a part of our everyday life. Systems such as automobiles, rob...
In this paper we consider the implementation of time and energy ecient trajectories onto a test-bed ...
This note investigates the motion control of an autonomous underwater vehicle (AUV). The AUV is mode...
Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) i...
Abstract — The main focus of this paper is to design time efficient trajectories for underwater vehi...
This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV)...
Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical s...
Autonomous Underwater Vehicle (AUV) system is one difficult controlled system because of its impreci...
Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) i...
This work presents a solution for the fuel-optimal navigation problem of an AUV given a fixed final ...
We seek the development of methodologies for trajectory planning of AUVs through optimal con-trol. A...
Abstract: This paper serves as a first study on the implementation of control strategies developed u...
This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles ...
Autonomous Underwater Vehicles (AUVs) are relatively new underwater devices developed to execute mis...
This paper presents the stabilization of a relative equilibrium of an underactuated autonomous under...
Mechanical control systems have become a part of our everyday life. Systems such as automobiles, rob...
In this paper we consider the implementation of time and energy ecient trajectories onto a test-bed ...
This note investigates the motion control of an autonomous underwater vehicle (AUV). The AUV is mode...
Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) i...
Abstract — The main focus of this paper is to design time efficient trajectories for underwater vehi...
This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV)...
Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical s...
Autonomous Underwater Vehicle (AUV) system is one difficult controlled system because of its impreci...
Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) i...
This work presents a solution for the fuel-optimal navigation problem of an AUV given a fixed final ...
We seek the development of methodologies for trajectory planning of AUVs through optimal con-trol. A...
Abstract: This paper serves as a first study on the implementation of control strategies developed u...
This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles ...
Autonomous Underwater Vehicles (AUVs) are relatively new underwater devices developed to execute mis...
This paper presents the stabilization of a relative equilibrium of an underactuated autonomous under...
Mechanical control systems have become a part of our everyday life. Systems such as automobiles, rob...
In this paper we consider the implementation of time and energy ecient trajectories onto a test-bed ...