Sequential Action Control for Models of Underactuated Underwater Vehicles in a Planar Ideal Fluid

TitleSequential Action Control for Models of Underactuated Underwater Vehicles in a Planar Ideal Fluid
Publication TypeConference Paper
Year of Publication2016
AuthorsMamakoukas, G., M. A. MacIver, and T. D. Murphey
Conference NameAmerican Control Conference (ACC)
Pages4500-4506
Date Published07/2016
Conference LocationBoston, MA
Refereed DesignationRefereed
Publication PDF: 
Notes: 

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.