Optimality for underwater vehicle's

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 13 Nov 2002Publisher:IEEEJournal:Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), volume 5, pages 4,204-4,209

Authors: Monique Chyba; Naomi Ehrich Leonard; Eduardo D. Sontag;

doi: 10.1109/cdc.2001.980847 , 10.1109/.2001.980847

Optimality for underwater vehicle's

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Abstract

We study the time-optimal trajectories for fully actuated planar underwater vehicles, with constraints on input forces. Using the maximum principle, we focus on the structure of singular extremals and their possible optimality.

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