Optimal Power Consumption Motion Control of a Fish-Like Vehicle in a Vortices Vector Field

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2017

Autores

Fernando Lobo Pereira (Autor) FEUP; Grilo, T (Autor) Outra; Sílvio Gama (Autor) FCUP

Ata de Conferência Internacional

Título: OCEANS 2017 - ABERDEEN

Páginas: 1-4

Oceans Aberdeen Conference

Aberdeen, ENGLAND, JUN 19-22, 2017

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 4 Citações

Classificação Científica

CORDIS: Ciências Físicas > Matemática > Matemática aplicada > Matemática para a engenharia

FOS: Ciências exactas e naturais > Matemática

Outras Informações

ID Authenticus: P-00N-69Y

DOI: 10.1109/oceanse.2017.8085026

Abstract (EN): This article concerns the formalization of a control framework for the fish-like motion control in a fluid due to a vector field generated by point vortices so that the overall power consumption required to travel between the departure and the arrival points is minimized. The control action is synthesized by specifying the time, location and circulation of at least one vortex and the extent to which this vortex, together one or more other vortices will propel the mobile platform considered as a point particle. Given the complexity of the general problem, we consider two simplifying assumptions: (i) only two vortices are active at each time interval, and (ii) the motion takes place in R-2. Necessary conditions of optimality in the form of a Maximum Principle of Pontryagin are stated, and the features ensuring that they constitute a solid basis for the synthesis of the optimal control strategy are discussed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 4