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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 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 languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4500-4506
Number of pages7
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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