Optimal and Adaptive Control of Underwater Vehicles
Sagatun, Svein I. and Johansson, Rolf LU
(1994)
Fourth IFAC Symposium on Robot Control
In IFAC Proceedings Volumes
27(14).
p.953-958
- Abstract
- This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm in Johansson (1990). The algorithm is optimal in the sense that it minimizes the state errors and the forces which contributes to the vehicle’s kinetic energy that is spend to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/ba8c7b61-07c6-43b1-ad9d-b33bcff2576b
- author
- Sagatun, Svein I.
and Johansson, Rolf
LU
- organization
- publishing date
- 1994
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IFAC Proceedings Volumes
- volume
- 27
- issue
- 14
- pages
- 4 pages
- publisher
- Elsevier
- conference name
- Fourth IFAC Symposium on Robot Control
- conference location
- Capri, Italy
- conference dates
- 1994-09-15
- DOI
- 10.1016/S1474-6670(17)47421-0
- project
- Lund Research Programme in Autonomous Robotics, 1993-1995
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- ba8c7b61-07c6-43b1-ad9d-b33bcff2576b
- date added to LUP
- 2022-06-21 09:53:30
- date last changed
- 2022-09-14 02:37:55
@article{ba8c7b61-07c6-43b1-ad9d-b33bcff2576b,
abstract = {{This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm in Johansson (1990). The algorithm is optimal in the sense that it minimizes the state errors and the forces which contributes to the vehicle’s kinetic energy that is spend to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping.}},
author = {{Sagatun, Svein I. and Johansson, Rolf}},
language = {{eng}},
number = {{14}},
pages = {{953--958}},
publisher = {{Elsevier}},
series = {{IFAC Proceedings Volumes}},
title = {{Optimal and Adaptive Control of Underwater Vehicles}},
url = {{http://dx.doi.org/10.1016/S1474-6670(17)47421-0}},
doi = {{10.1016/S1474-6670(17)47421-0}},
volume = {{27}},
year = {{1994}},
}