A novel approach for the optimal control of autonomous underwater vehicles

被引:0
|
作者
Yim, SB [1 ]
Oh, JH [1 ]
机构
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Machine Control Lab, Taejon 305701, South Korea
来源
CONTROL AND CYBERNETICS | 2003年 / 32卷 / 01期
关键词
SDRE; optimal control; AUV;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The SDRE (State-Dependent Riccati Equation) is a technique recently proposed as a nonlinear control method. Despite the benefits due to its flexibility, the SDRE places high demand on the computational load of real-time applications, which is one of its most significant drawbacks. This paper discusses a new nonlinear feedback controller for autonomous underwater vehicles (AUVs), which eventually converges to a conventional SDRE-based optimal controller. The proposed controller is derived by direct forward integration of an SDRE. This enables fast computation, and so is applicable to real-time applications. For a state-dependent system, the proposed controller may be an alternative candidate to a conventional SDRE-based optimal controller if the system is slow-varying to different states. To cope with fast-varying systems, we introduced a deviation index, which indicates the extent of deviation of the proposed controller from the solution of a conventional SDRE-based one. Whenever the index exceeds a designated bound, the controller is initialized to the conventional SDRE optimal value. Using the deviation index, a designer can achieve a compromise between computation time and optimality. We applied the proposed controller to a numerical model of an AUV called ODIN (Choi et al., 1995), a well-known nonlinear, relatively higher order, and slow-varying system. The global position/attitude regulation, tracking problems, and fault tolerance properties were examined in the simulation to show the effectiveness of the proposed controller.
引用
收藏
页码:127 / 145
页数:19
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