NDLI: Computational geometric optimal control of connected rigid bodies in a perfect fluid

Content Provider	IEEE Xplore Digital Library
Author	Taeyoung Lee Leok, M. McClamroch, N.H.
Copyright Year	2010
Description	Author affiliation: Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA (McClamroch, N.H.) \|\| Mech. & Aerosp. Eng., Florida Inst. of Technol., Melbourne, FL, USA (Taeyoung Lee) \|\| Math., Univ. of California, San Diego, CA, USA (Leok, M.)
Abstract	This paper formulates an optimal control problem for a system of rigid bodies that are neutrally buoyant, connected by ball joints, and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space, and each joint has three rotational degrees of freedom. We assume that internal control moments are applied at each joint. We present a computational procedure for numerically solving this optimal control problem, based on a geometric numerical integrator referred to as a Lie group variational integrator. This computational approach preserves the Hamiltonian structure of the controlled system and the Lie group configuration manifold of the connected rigid bodies, thereby finding complex optimal maneuvers of connected rigid bodies accurately and efficiently. This is illustrated by numerical computations.
Starting Page	5985
Ending Page	5990
File Size	1795842
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5531258
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Optimal control Control systems Marine animals Shape control Aerospace engineering Automotive engineering Robots Underwater vehicles Equations Analytical models
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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