Volume 8, Issue 2 (Journal of Control, V.8, N.2 Summer 2014)                   JoC 2014, 8(2): 35-46 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

ahmadi M, faraji A, halvaei niasar A. Design of Nonlinear Optimal Controller for moving of Underwater Vehicle in Depth Channel by using Gradient Descent Method with Systematic Step Selection . JoC. 2014; 8 (2) :35-46
URL: http://joc.kntu.ac.ir/article-1-123-en.html
Abstract:   (12438 Views)
Abstract: This paper proposes the design of a nonlinear optimal controller for a submarine with nonlinear model with six degrees of freedom (6-DOF). The control aims includes achieving system stability, reaching the submarine to a desirable point at the end of the maneuver, and choosing the optimal path that are accessible by solution of optimal cost function. The novelty of this paper is the systematic step selection in the gradient descent algorithm that has increased the rate of convergence beyond two times rather than fixed step algorithm. Finally, via some simulations, the robust performance of the designed controller for moving in different depths with considering of parametric uncertainty has been confirmed.
Full-Text [PDF 1044 kb]   (1813 Downloads)    
Type of Article: Review paper | Subject: Special
Received: 2014/06/29 | Accepted: 2015/01/24 | Published: 2015/01/26

Add your comments about this article : Your username or Email:

Send email to the article author

© 2020 All Rights Reserved | Journal of Control

Designed & Developed by : Yektaweb