Applications of inverse simulation to a nonlinear model of an underwater vehicle

Murray-Smith, D., Lu, L. and McGookin, E. (2008) Applications of inverse simulation to a nonlinear model of an underwater vehicle. In: Summer Simulation Multi-Conference 2008 - Grand Challenges in Modelling & Simulation, Edinburgh, Scotland, 16-19 Jun 2008,

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Abstract

Inverse simulation provides an important alternative to conventional simulation and to more formal mathematical techniques of model inversion. The application of inverse simulation methods to a nonlinear dynamic model of an unmanned underwater vehicle with actuator limits is found to give rise to a number of challenging problems. It is shown that this particular problem requires, in common with other applications that include hard nonlinearities in the model or discontinuities in the required trajectory, can best be approached using a search-based optimization algorithm for inverse simulation in place of the more conventional Newton- Raphson approach. Results show that meaningful inverse simulation results can be obtained but that multi-solution responses exist. Although the inverse solutions are not unique they are shown to generate the required trajectories when tested using conventional forward simulation methods.

Item Type:Conference Proceedings
Keywords:Inverse Simulation, AUV
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Murray-Smith, Professor David and McGookin, Dr Euan
Authors: Murray-Smith, D., Lu, L., and McGookin, E.
Subjects:T Technology > T Technology (General)
Q Science > QA Mathematics
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
Copyright Holders:Copyright © 2008 The Author
First Published:First published in proceedings of Summer Simulation Multi-Conference 2008 - Grand Challenges in Modelling & Simulation
Publisher Policy:Reproduced with permission of the author.

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