TY - GEN
T1 - Sequential Action Control for models of underactuated underwater vehicles in a planar ideal fluid
AU - Mamakoukas, Giorgos
AU - Maciver, Malcolm A.
AU - Murphey, Todd D.
PY - 2016/7/28
Y1 - 2016/7/28
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.
UR - http://www.scopus.com/inward/record.url?scp=84992135285&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84992135285&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526061
DO - 10.1109/ACC.2016.7526061
M3 - Conference contribution
AN - SCOPUS:84992135285
T3 - Proceedings of the American Control Conference
SP - 4500
EP - 4506
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -