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Authors: George Nikolakopoulos 1 ; Nikolaos J. Roussos 1 and Kostas Alexis 2

Affiliations: 1 Ministry of Defence, Greece ; 2 University of Patras, Greece

Keyword(s): AUV, Constrained finite time, Optimal control.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Space and Underwater Robotics

Abstract: In this paper a Constrained Finite Time Optimal Controller (CFTOC) is designed and applied to the diving and steering problem of an Autonomous Underwater Vehicle. The non–linear model of the AUV is presented and the decoupled linear models for the steering and diving motions of the vehicle are derived, based on certain modeling assumptions and simplifications, while the cruising speed of the vehicle is considered to be small and constant. The proposed control scheme has the merit to take under consideration: a) the mechanical and physical constrains of the AUV, b) uncertainties produced from modeling errors and environmental noise, c) constrains in the motors, and produce an optimal controller for the vehicle that will guarantee the stability of the closed loop system. The proposed CFTO–controller is applied to simulation studies and relevant simulation results are presented that prove the efficacy of the proposed scheme.

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Paper citation in several formats:
Nikolakopoulos, G.; J. Roussos, N. and Alexis, K. (2010). A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 260-267. DOI: 10.5220/0002948202600267

@conference{icinco10,
author={George Nikolakopoulos. and Nikolaos {J. Roussos}. and Kostas Alexis.},
title={A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={260-267},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002948202600267},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A CONSTRAINED FINITE TIME OPTIMAL CONTROLLER FOR THE DIVING AND STEERING PROBLEM OF AN AUTONOMOUS UNDERWATER VEHICLE
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Nikolakopoulos, G.
AU - J. Roussos, N.
AU - Alexis, K.
PY - 2010
SP - 260
EP - 267
DO - 10.5220/0002948202600267
PB - SciTePress

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