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

Journal: International Journal of Science and Research (IJSR) (Vol.5, No. 7)

Publication Date:

Authors : ; ;

Page : 1432-1436

Keywords : Autonomous underwater vehicle AUV; depth control; LQR; MATLAB; SIMULINK;

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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.

Last modified: 2021-07-01 14:40:32