Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid

Giorgos Mamakoukas; Malcolm A. Maciver; Todd D. Murphey

doi:10.1109/ACC.2016.7526061

Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid

Giorgos Mamakoukas, Malcolm A. Maciver, Todd D. Murphey

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Scopus citations

Abstract

This paper uses Sequential Action Control (SAC), a model-based method for control of non-linear systems, for fast, optimal trajectory-tracking tasks in the presence of fluid drift. Through the benchmark example of the kinematic car, it is shown that SAC outperforms a traditional offline projection - based optimization technique in terms of control effort and objective cost. Motivated by recent work on effort-efficient, sight-independent weakly electric fish, this papers also shows that SAC successfully provides control-optimal dynamics to perform short-range underwater maneuvers. Simulation results highlight SAC's robustness to different drift intensities and added mass properties, even when the effective fluid drift is not included in the controller's model.

Original language	English (US)
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4500-4506
Number of pages	7
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526061
State	Published - Jul 28 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Other

Other	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	7/6/16 → 7/8/16

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2016.7526061

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Mamakoukas, G., Maciver, M. A., & Murphey, T. D. (2016). Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid. In 2016 American Control Conference, ACC 2016 (pp. 4500-4506). [7526061] (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526061

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title = "Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid",

abstract = "This paper uses Sequential Action Control (SAC), a model-based method for control of non-linear systems, for fast, optimal trajectory-tracking tasks in the presence of fluid drift. Through the benchmark example of the kinematic car, it is shown that SAC outperforms a traditional offline projection - based optimization technique in terms of control effort and objective cost. Motivated by recent work on effort-efficient, sight-independent weakly electric fish, this papers also shows that SAC successfully provides control-optimal dynamics to perform short-range underwater maneuvers. Simulation results highlight SAC's robustness to different drift intensities and added mass properties, even when the effective fluid drift is not included in the controller's model.",

author = "Giorgos Mamakoukas and Maciver, {Malcolm A.} and Murphey, {Todd D.}",

year = "2016",

month = jul,

day = "28",

doi = "10.1109/ACC.2016.7526061",

language = "English (US)",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Mamakoukas, G, Maciver, MA & Murphey, TD 2016, Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid. in 2016 American Control Conference, ACC 2016., 7526061, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 4500-4506, 2016 American Control Conference, ACC 2016, Boston, United States, 7/6/16. https://doi.org/10.1109/ACC.2016.7526061

Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid. / Mamakoukas, Giorgos; Maciver, Malcolm A.; Murphey, Todd D.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4500-4506 7526061 (Proceedings of the American Control Conference; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - This paper uses Sequential Action Control (SAC), a model-based method for control of non-linear systems, for fast, optimal trajectory-tracking tasks in the presence of fluid drift. Through the benchmark example of the kinematic car, it is shown that SAC outperforms a traditional offline projection - based optimization technique in terms of control effort and objective cost. Motivated by recent work on effort-efficient, sight-independent weakly electric fish, this papers also shows that SAC successfully provides control-optimal dynamics to perform short-range underwater maneuvers. Simulation results highlight SAC's robustness to different drift intensities and added mass properties, even when the effective fluid drift is not included in the controller's model.

AB - This paper uses Sequential Action Control (SAC), a model-based method for control of non-linear systems, for fast, optimal trajectory-tracking tasks in the presence of fluid drift. Through the benchmark example of the kinematic car, it is shown that SAC outperforms a traditional offline projection - based optimization technique in terms of control effort and objective cost. Motivated by recent work on effort-efficient, sight-independent weakly electric fish, this papers also shows that SAC successfully provides control-optimal dynamics to perform short-range underwater maneuvers. Simulation results highlight SAC's robustness to different drift intensities and added mass properties, even when the effective fluid drift is not included in the controller's model.

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Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid

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