Optimality for underwater vehicles

M. Chyba, N. E. Leonard, E. D. Sontag

Research output: Contribution to journalConference articlepeer-review

20 Scopus citations


In this paper, we study 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.

Original languageEnglish (US)
Pages (from-to)4204-4209
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2001
Externally publishedYes
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: Dec 4 2001Dec 7 2001

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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