Nonlinear <svg     style="vertical-align:-4.47127pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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</svg> Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

<table>An illustration of an underwater robotic system which performs tracking task in a spherical region.</table>

Journal of Applied Mathematics

fig1

Figure 1

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</svg> Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation 

Journal of Applied Mathematics

Nonlinear Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

Figure 1