Email this article Control of an Unmmaned Underwater Vehicles Using an Optimized LQR Method
Abstract
unmanned underwater vehicle using a Multiobjectives Differential
Evolution (MODE)-based LQR approach. Although the LQR control
is a well-known optimal control method, the optimality of the resulting
compensator is a subject of appropriate design parameters’ (Q and R)
selection. Considering the complex dynamics nature of an unmanned
underwater vehicle, and the need to achieve optimal compromise
between several control performance objectives such as time response,
control energy minimization and robustness, the conventional LQR
design approach is not only potentially challenging, it is time
consuming and limits the achievable performance. In this paper, the
control problem is formulated as a Multiobjectives optimization
problem to search for Pareto-based optimal (sub-optimal) design
parameters using a MODE-algorithm. The performance evaluation of
the resulting compensator in simulation shows an effective
compromise between the conflicting performance objectives, while
the design approach is observed to be effective in rapid prototyping
and deployment of such vehicle.
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