Keywords

nonlinear optimal control, underwater vehicle, Galerkin approximation

Abstract

The application of a new nonlinear optimal control strategy to the station-keeping control of an underwater robotic vehicle is considered. The control approach described and demonstrated here is based upon the numerical approximation of solutions to the Hamilton-Jacobi-Bellman equation. These solutions are computed by an iterative application of Galerkin's method. Preliminary simulation results demonstrating the application of this approach to the control of an underwater vehicle in the horizontal plane are presented.

Original Publication Citation

McLain, T. and Beard, R. Successive Galerkin Approximations to the Nonlinear Optimal Control of an Underwater Robotic Vehicle, Proceedings of the International Conference on Robotics and Automation, vol. 1, pp. 762-767, May 1998, Leuven, Belgium.

Document Type

Conference Paper

Publication Date

1998-7

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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