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Design and implementation of time efficient trajectories for an underwater vehicle

Chyba, Monique, Haberkorn, Thomas, Smith, Ryan N., & Choi, S.K. (2008) Design and implementation of time efficient trajectories for an underwater vehicle. Ocean Engineering, 35(1), pp. 63-76.

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Abstract

This paper discusses control strategies adapted for practical implementation and efficient motion of underwater vehicles. These trajectories are piecewise constant thrust arcs with few actuator switchings. We provide the numerical algorithm which computes the time efficient trajectories parameterized by the switching times. We discuss both the theoretical analysis and experimental implementation results.

Impact and interest:

19 citations in Scopus
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15 citations in Web of Science®

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163 since deposited on 23 Mar 2011
36 in the past twelve months

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ID Code: 40139
Item Type: Journal Article
Keywords: Autonomous Underwater Vehicle, Time Optimization, Control Theory
DOI: 10.1016/j.oceaneng.2007.07.007
ISSN: 0029-8018
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) > Numerical Solution of Differential and Integral Equations (010302)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 Elsevier Ltd. All rights reserved.
Deposited On: 23 Mar 2011 23:36
Last Modified: 29 Feb 2012 14:32

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