Optimal Trajectory Tracking Control for Underwater Profiling Monitoring Vehicle

DOI

10.2991/aiie-15.2015.16How to use a DOI?

Keywords

underwater profiling monitoring vehicle; trajectory-tracking; dynamics; Hamilton function

Abstract

The optimal trajectory-tracking control method for the underwater profiling monitoring vehicle (UPMV) is investigated. Firstly, the system dynamics of the UPMV is modelled and the quadratic performance index is chosen for considering the tracking control precision and energy consumption. The optimal tracking control law is proposed based on Hamilton function. Simulation results show the effectiveness of the control scheme.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - J. Yuan
AU  - C. Hui
PY  - 2015/07
DA  - 2015/07
TI  - Optimal Trajectory Tracking Control for Underwater Profiling Monitoring Vehicle
BT  - Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
PB  - Atlantis Press
SP  - 56
EP  - 58
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-15.2015.16
DO  - 10.2991/aiie-15.2015.16
ID  - Yuan2015/07
ER  -