Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Freshwater-saltwater boundary detection using mobile sensors. Part II: Drifter movement.
Yu Ru, and Sonia MartÃnez
Proceedings of the 50th IEEE Int. Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011
Abstract:
In this paper, we study the minimum energy control problem in a flow environment, in which the flow is described by a quadratic function and the objective is to minimize the energy consumption while driving drifters from one point to another. The minimum energy control problem is motivated by the fact that mobile drifters are powered by batteries and that power consumption is very critical. We first derive the unconstrained optimal control using the Pontryagin's minimum principle, and then bound the parameters that characterize the optimal control. For minimum energy control with state constraints that arise naturally in our setting, we adjoin additional multiplier functions to the Hamiltonian, and then provide a set of equations that need to be solved to obtain the optimal control. If the dynamics of drifters are restricted to be of Dubin's type, the optimal control is in the form of state feedback, which potentially leads to more robust implementation.
File: main.pdf
Bib-tex entry:
@InProceedings{YR-SM:11-cdc-partII,
author = {Y. Ru and S. Mart{\'\i}nez},
booktitle = {IEEE International Conference on Decision and Control and European Control Conference},
title = {Freshwater-saltwater boundary
detection using mobile sensors. Part II: Drifter movement.},
year = {2011},
month = {December},
address = {Orlando, FL, USA},
pages = {5082--5087}
}