Ricerc@Sapienza

The analysis of oscillating systems controlled by mechatronic devices, relies classically on differential equations, and the problem is frequently attacked in the frequency domain, for linear systems based on more conventional controls, or in the time space-state formulation to include also nonlinearities. In this paper we are faced with a system that exhibits memory effects. These are borne because of the presence of added mass and damping that are due to the rigid body motion coupling with the surrounding water.

This paper considers a new problem of control related to underwater vehicles. Due to the presence of a free fluid surface and to the vortex shedding of the vehicle lifting surfaces, the mathematical model is represented by an integral-differential equation. A new optimal control technique is investigated for this model, and its results compared with the use of a standard LQR method.