DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yim, SB | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2013-03-03T12:20:45Z | - |
dc.date.available | 2013-03-03T12:20:45Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2003 | - |
dc.identifier.citation | CONTROL AND CYBERNETICS, v.32, no.1, pp.127 - 145 | - |
dc.identifier.issn | 0324-8569 | - |
dc.identifier.uri | http://hdl.handle.net/10203/78654 | - |
dc.description.abstract | The SDRE (State-Dependent Riccati Equation) is a technique recently proposed as a nonlinear control method. Despite the benefits due to its flexibility, the SDRE places high demand on the computational load of real-time applications, which is one of its most significant drawbacks. This paper discusses a new nonlinear feedback controller for autonomous underwater vehicles (AUVs), which eventually converges to a conventional SDRE-based optimal controller. The proposed controller is derived by direct forward integration of an SDRE. This enables fast computation, and so is applicable to real-time applications. For a state-dependent system, the proposed controller may be an alternative candidate to a conventional SDRE-based optimal controller if the system is slow-varying to different states. To cope with fast-varying systems, we introduced a deviation index, which indicates the extent of deviation of the proposed controller from the solution of a conventional SDRE-based one. Whenever the index exceeds a designated bound, the controller is initialized to the conventional SDRE optimal value. Using the deviation index, a designer can achieve a compromise between computation time and optimality. We applied the proposed controller to a numerical model of an AUV called ODIN (Choi et al., 1995), a well-known nonlinear, relatively higher order, and slow-varying system. The global position/attitude regulation, tracking problems, and fault tolerance properties were examined in the simulation to show the effectiveness of the proposed controller. | - |
dc.language | English | - |
dc.publisher | POLISH ACAD SCIENCES SYSTEMS RESEARCH INST | - |
dc.subject | RICCATI EQUATION | - |
dc.subject | NONLINEAR-SYSTEMS | - |
dc.subject | STABILIZING FEEDBACK | - |
dc.subject | STATE | - |
dc.subject | GAINS | - |
dc.title | A novel approach for the optimal control of autonomous underwater vehicles | - |
dc.type | Article | - |
dc.identifier.wosid | 000185302200007 | - |
dc.identifier.scopusid | 2-s2.0-0141841648 | - |
dc.type.rims | ART | - |
dc.citation.volume | 32 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 127 | - |
dc.citation.endingpage | 145 | - |
dc.citation.publicationname | CONTROL AND CYBERNETICS | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Yim, SB | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | SDRE | - |
dc.subject.keywordAuthor | optimal control | - |
dc.subject.keywordAuthor | AUV | - |
dc.subject.keywordPlus | RICCATI EQUATION | - |
dc.subject.keywordPlus | NONLINEAR-SYSTEMS | - |
dc.subject.keywordPlus | STABILIZING FEEDBACK | - |
dc.subject.keywordPlus | STATE | - |
dc.subject.keywordPlus | GAINS | - |
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