Control of an Unmmaned Underwater Vehicles Using an Optimized LQR Method

Ismaila B. Tijani, Agus Budiyono


This paper presents an optimal control synthesis for an 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.


LQR, optimal control, Multiobjectives,Differential Evolution, optimization.

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