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Successive Galerkin approximations to the nonlinear optimal control of an underwater robotic vehicle

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2 Author(s)
T. W. McLain ; Dept. of Mech. Eng., Brigham Young Univ., Provo, UT, USA ; R. W. Beard

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

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:1 )

Date of Conference:

16-20 May 1998