Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Feasible Control Strategies and Feasible System Response for the Navigation of an Autonomous Ship Robot

Version 1 : Received: 29 August 2022 / Approved: 31 August 2022 / Online: 31 August 2022 (13:33:10 CEST)

How to cite: Mavungu, M. Feasible Control Strategies and Feasible System Response for the Navigation of an Autonomous Ship Robot. Preprints 2022, 2022080546. https://doi.org/10.20944/preprints202208.0546.v1 Mavungu, M. Feasible Control Strategies and Feasible System Response for the Navigation of an Autonomous Ship Robot. Preprints 2022, 2022080546. https://doi.org/10.20944/preprints202208.0546.v1

Abstract

This paper develops a methodology to control the navigation of an autonomous ship robot from an initial state to a final. To solve the problem the following approach is used: The ship robot system is modelled as a control system of six ordinary differential equations involving six state variables and three control variables. After having computed the system Hamiltonian, the feasible controls for optimality are derived from the normal equations of optimality as functions of the state and costate variables. Such controls are substituted into the state and the costate equations and give a combined control-free state-costate system of ordinary differential equations which is solved numerically by using a developed Matlab computer program. Associated computational simulations are designed and provided to show the reliability of the approach.

Keywords

Autonomous Ship Robot; Autonomous System; Autonomous Vehicle; Control System; Differential Equations; Intelligent Systems; Mobile Systems; Nonholonomic Constraint; Optimal Control

Subject

Engineering, Control and Systems Engineering

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