Optimal AUV control surface sizing using convex optimization methods

This paper addresses the problem of integrated design of AUV plant parameters and feedback controllers to meet mission performance requirements with minimum energy expenditure. Given an AUV that is required to operate over a finite set of representative trim conditions in the vertical plane in the course of a given mission scenario, the objective is to determine the optimal size of the bow and stern planes so that the average propulsion power required to execute that mission is minimized. The minimization process is subject to open loop stability requirements, and to the existence of stabilizing feedback controllers that can meet time and frequency closed loop requirements about each trim condition. The paper introduces a methodology to solve this combined plant/controller optimization problem in the framework of convex optimization theory, and describes its application to the selection of the optimal size of bow and stern planes for a prototype autonomous vehicle.