Increasing underwater vehicle autonomy by reducing energy consumption
Chyba, M. , Haberkorn, T. , Smith, R.N., Singh, S.B. , & Choi, S.K. (2009) Increasing underwater vehicle autonomy by reducing energy consumption. Ocean Engineering, 36(1), pp. 62-73.
In this paper, we concern ourselves with finding a control strategy that minimizes energy consumption along a trajectory connecting two given configurations. We develop an algorithm, based on our previous work with the time optimal problem, which provides implementable control strategies that are energy efficient. We find an interesting correlation between the duration of these trajectories and the optimal duration. We present the algorithm, control strategy and experimental results from our test-bed vehicle.
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|Item Type:||Journal Article|
|Keywords:||Autonomous Underwater Vehicle, Energy optimization, Optimal Control, Control Theory|
|Subjects:||Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)|
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > NUMERICAL AND COMPUTATIONAL MATHEMATICS (010300) > Optimisation (010303)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2008 Elsevier Ltd. All rights reserved.|
|Deposited On:||25 Mar 2011 12:12|
|Last Modified:||01 Mar 2012 00:32|
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