Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An LQR Controller for Autonomous Underwater Vehicle

무인잠수정의 LQR 제어기 설계

  • 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)
  • 배설봉 (부경대학교 정보통신공학과) ;
  • 신동협 (부경대학교 정보통신공학과) ;
  • 권순태 (한화 종합연구소 무인화센터) ;
  • 주문갑 (부경대학교 정보통신공학과)
  • Received : 2013.11.20
  • Accepted : 2013.12.31
  • Published : 2014.02.01
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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

References

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