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http://dx.doi.org/10.5302/J.ICROS.2014.13.9005

An LQR Controller for Autonomous Underwater Vehicle  

Bae, Seol B. (Dept. Information and Communications Engineering, Pukyong National University)
Shin, Dong H. (Dept. Information and Communications Engineering, Pukyong National University)
Kwon, Soon T. (Hanwha Corporation R&D Center)
Joo, Moon G. (Dept. Information and Communications Engineering, Pukyong National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.2, 2014 , pp. 132-137 More about this Journal
Abstract
In this paper, An LQR controller is proposed for way-point tracking of AUV (Autonomous Underwater Vehicle). The LQR controller aims at tracking a series of way-points which operator registers arbitrarily in advance. It consists of a depth controller and a steering controller and AUV's surge speed is assumed varying to consider the dynamic environment of the underwater. In order to show the performance, a conventional state feedback controller is compared with the proposed controller by the simulation using Matlab/Simulink. The parameters of AUV developed by the author's laboratory are used. In the simulation, we verify that the LQR controller can track all the way-points within 1 m error range under the varying surge speed, which proves the robustness of the LQR controller.
Keywords
LQR controller; state feedback; AUV; way-point tracking; matlab/simulink;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
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