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

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Fernando Lobo Pereira (Author) FEUP; Grilo, T (Author) Other; Sílvio Gama (Author) FCUP

Conference proceedings International

Title: OCEANS 2017 - ABERDEEN

Pages: 1-4

Oceans Aberdeen Conference

Aberdeen, ENGLAND, JUN 19-22, 2017

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 4 Citations

Scientific classification

CORDIS: Physical sciences > Mathematics > Applied mathematics > Engineering mathematics

FOS: Natural sciences > Mathematics

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4