Optimal control with memory effects: Theory and application to wings

A novel indirect variational optimal control theory is proposed for integral-differential equations of motion. This algorithm is applied to an engineering application: the control of a an underawater autonomous vehicle's 2-Dof lifting surface. The variational approach proposed is an extension of the classical Potryagin optimal control theory which normally refers to differential equations. The control has been extended by developing a novel integral MPC technique. Numerical results show good performace of the optimal control proposed compared with the standard LQR method.