A lie group PMP approach for optimal stabilization and tracking control of autonomous underwater vehicles
B. Anil,
Sneha Gajbhiye,
Santhakumar Mohan
Abstract:In this research, we explore a finite horizon optimal stabilization and tracking control scheme for the dynamical model of a 6‐DOF Autonomous Underwater Vehicle (AUV). Dynamical equations of the AUV are represented in a Lie group () framework, encompassing both translational and rotational motions. Utilizing a left Lie group action on , we define error function for velocities via a right transport map to effectively address optimal trajectory tracking. The optimal control objective is formulated as a trade‐off… Show more
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