A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible

An unmanned free-swimming submersible (UFSS) is designed to perform certain tasks in water without interposing humans. The vehicle’s control achieved by integrating mathematical (analog) and non-mathematical (embedded) controllers. main goal of integrated controllers overcome the environmental disturbances noise sensor data. These disturbances, as well data, are generated during steering, diving, speed control. amplitude varies with depth intensity waves. This article presents a robust hybrid linear quadratic regulator (HLQR) controller for UFSS. presented targets desired state UFSS presence disturbing environment. approach employing: (1) two regulators or (2) structure Riccati equation. Consequently, proposed HLQR into system evaluate response terms settling time, rise overshoot, steady-state error. Furthermore, robustness investigated considering feedback step hydrodynamic disturbances. implementation results reveal that outperforms art controllers, such proportional-integral-derivative lead-compensator