513 Optimal Control of a Mechanical System Based on Energy Equation : 3^<rd> Report, Application to an Underactuated Underwater Vehicle with One Actuator
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概要
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In this paper, application of a new optimal control method for a six-degree of freedom underwater vehicle (UV) with one actuator is discussed. The UV is a nonholonomic system since it is nonlinear and underactuated. Therefore, control of this vehicle necessitates a special control method. In the control method, the functional defining criteria function is based on energy flows within the dynamic system, and between the system and its environment. The applied control method allows obtaining the analytical solution by minimizing the functional using variational principle. The UV is modeled using a software tool and subsequently simulation results are presented. It is shown that, the UV can reach the target by means of a single actuator.
- 2006-08-06
著者
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HAGIWARA Ichiro
Tokyo Institute of Technology
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Hagiwara Ichiro
Tokyo Inst. Of Technol. Tokyo
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ARSLAN M.
Tokyo Inst. of Tech.
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FUKUSHIMA Naoto
Tokyo Institute of Technology
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HSU Cindy
Tokyo Institute of Technology
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