OBJECTIVE DIRECTED CONTROL USING LOCAL MINIMISATION FOR AN AUTONOMOUS UNDERWATER VEHICLE

This paper presents a new method for control of complex MIMO plants based on a quantised state description. The control algorithm solves a minimisation problem for a set of user defined convex control objective functions with the plant dynamics as a constraint. The solution makes use of local linear models that are effectively calculated by propagating the state on-line using a quantised state description. The method is demonstrated on a model of an autonomous underwater vehicle.