Title :
Optimality for underwater vehicle´s
Author :
Chyba, M. ; Leonard, N.E. ; Sontag, E.D.
Author_Institution :
Dept. of Math., Univ. of Santa Cruz, CA, USA
Abstract :
We study the time-optimal trajectories for fully actuated planar underwater vehicles, with constraints on input forces. Using the maximum principle, we focus on the structure of singular extremals and their possible optimality
Keywords :
controllability; maximum principle; path planning; time optimal control; underwater vehicles; actuated planar underwater vehicles; controllability; maximum principle; path planning; singular extremals; time-optimal control; Aerospace engineering; Automotive engineering; Engines; Equations; Fluid dynamics; Mathematics; Propellers; Underwater vehicles; Vehicle dynamics; Vibrations;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980847
