Design and Control of Autonomous Unerwater Vehicle for Depth Control Using LQR Controller

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.