Design and Control of Autonomous Unerwater Vehicle for Depth Control Using LQR Controller
Abstract: Autonomous underwater vehicle (AUV) is a non-linear dynamic system which is modelled with six degree of freedom equation. Due to hydrodynamic forces these equations are complex nonlinear and highly coupled, hence impractical for implementing controllers. Here, a reduced order subsystem derived from dive plane parameter for depth control has been linearized and is used for controlling scheme. The controlling techniques used here is a linear quadratic regulator (LQR). the objective is to determine a control strategy to deliver better performance for depth control.
Keywords: Autonomous underwater vehicle AUV, depth control, LQR, MATLAB, SIMULINK
How to Cite?: Reshmi K R G, Priya P S, "Design and Control of Autonomous Unerwater Vehicle for Depth Control Using LQR Controller", Volume 5 Issue 7, July 2016, International Journal of Science and Research (IJSR), Pages: 1432-1436, https://www.ijsr.net/getabstract.php?paperid=ART2016447, DOI: https://dx.doi.org/10.21275/ART2016447