论文信息 - Optimality for underwater vehicle's

Optimality for underwater vehicle's

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.

M. Chyba | N. Leonard | E. Sontag

[1] L. S. Pontryagin,et al. Mathematical Theory of Optimal Processes , 1962 .

[2] M. L. Chambers. The Mathematical Theory of Optimal Processes , 1965 .

[3] H. Sussmann,et al. The Markov-Dubins problem with angular acceleration control , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[4] Naomi Ehrich Leonard. Stability of a bottom-heavy underwater vehicle , 1997, Autom..

[5] Terrie M. Williams,et al. The evolution of cost efficient swimming in marine mammals: limits to energetic optimization , 1999 .

[6] Anna M. Galea. Optimal path planning and high level control of an autonomous gliding underwater vehicle , 1999 .

[7] Naomi Ehrich Leonard,et al. Time-Optimal Control for Underwater Vehicles , 2000 .

[8] Naomi Ehrich Leonard,et al. Model-based feedback control of autonomous underwater gliders , 2001 .