Optimal kinematic control of an autonomous underwater vehicle

IEEE Transactions on Automatic Control

Volumn 54, Issue 7, 2009, Pages 1623-1626

  Biggs, James ^a   Holderbaum, William ^b  

^a UNIVERSITY OF STRATHCLYDE   (United Kingdom)

^b UNIVERSITY OF READING   (United Kingdom)

Author keywords

Nonholonomic systems; Optimal control; Underwater vehicle

Indexed keywords

EUCLIDEAN GROUP; EXTREMAL; HELICAL-PATH; KINEMATIC CONTROL; LAGRANGE EQUATION; LAGRANGIAN; LATERAL MOTION; NONHOLONOMIC SYSTEMS; OPTIMAL CONTROL; OPTIMAL CONTROL PROBLEM; OPTIMAL MOTION; OPTIMALITY; QUADRATIC COST FUNCTIONS; QUADRATIC FUNCTION; UNDERWATER VEHICLE; VECTOR FIELDS; VELOCITY COMPONENTS;

AUTOMOBILE PARTS AND EQUIPMENT; COST FUNCTIONS; EQUATIONS OF MOTION; HAMILTONIANS; KINEMATICS; LAGRANGE MULTIPLIERS; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; SUBMERSIBLE MOTORS; SUBMERSIBLES; TRAJECTORIES; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 67949110973     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2009.2017966     Document Type: Article

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