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Optimality for underwater vehicle's

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3 Author(s)
Chyba, M. ; Dept. of Math., Univ. of Santa Cruz, CA, USA ; Leonard, N.E. ; Sontag, E.D.

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

Published in:

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

Date of Conference: