DYNAMIC MODELING AND OPTIMAL CONTROL OF A POSITIVE BUOYANCY DIVING AUTONOMOUS VEHICLE

The positive buoyancy diving autonomous vehicle combines the features of an Unmanned Surface Vessel (USV) and Autonomous Underwater Vehicle (AUV) for marine measurement monitoring. It can also be used to study reasonable efficient techniques underwater robots. In order optimization low power consumption high efficiency cruise motion vehicle, its dynamic modeling has been established. optimal cruising speed energy is determined by numerical simulation. Linear Quadratic Regulator (LQR) controller designed optimize error actuator in achieve fixed depth tracking control vehicle. results demonstrate that LQR better performance than PID, system adjustment time reduced approximately 56% relative PID. method proposed improve endurance a certain application value.