Journal of Applied Mathematics / 2013 / Article / Tab 1

Research Article

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

Table 1

Simulation result: vehicle forces for four vertical thrusters (N).

Set-point tracking controlNonlinear optimal controller

Thrusters 1 45.2042.20
Thrusters 271.3866.80
Thrusters 345.3842.78
Thrusters 466.9665.69
Total input116.97111.30

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