Case2

In this case, the initial position and attitude of the vehicle with respect to the earth-fixed frame are [%o(0),yd(0),Zo(0),e1(0),B1(0),e3(0), rj(0)]T = [-40,25,-15, 0,0,0,1]T at time to=0. The target point is the origin, [xd,yd,zd]T=[0,0,0]T. The following thrust constraint (in Newtons) has been imposed on the control input:

Time |sj

Fig. 3. Time evolution of the linear and angular velocities il» I»

Time |sj

Fig. 3. Time evolution of the linear and angular velocities

Fig. 4. Time evolution of the position of the UUV

Fig. 5. 3-D flight path of the UUV

In this case, the only difference between applying an unconstrained input and constrained input is that the operation time is longer in the latter case. The constrained control, Fig.6, has a similar characteristic with that of the previous case.

Fig. 6. Time evolution of the applied input

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