Abstract
This paper presents an optimal control method which is based on a newly established framework of control problem. This framework is composed of obtaining the ideal characteristics of the system for a given criteria function and solving the equations of motion by using the inverse of ideal characteristics function as an optimal control law for given initial conditions. The criteria function is defined as the combination of the energy flow equation and performance measures. Minimization of the criteria function yields the ideal characteristics. In this paper, the necessary condition for optimality is given and the optimality is proven. Simulations carried out on an underactuated underwater vehicle with single actuator show the performance and feasibility of the control method.
