Design of a State Derivative Optimal Control Law Using LMI Technique for Diving Motion of Autonomous Underwater Vehicle

Abstract

In this paper, a depth control algorithm for an autonomous underwater vehicle (AUV) is proposed using a derivative feedback-based optimal control technique. The control algorithm is formulated using a Linear Matrix Inequalities (LMI) and implemented using semi-definite programming (SDP). The controller is designed using a linear quadratic regulator (LQR). Furthermore, the gains obtained using the LQR technique are subjected to derivative control action to obtain accurate tracking of depth. The control law is obtained by solving the LMI using MATLAB/Simulink through the YALMIP toolbox. From the simulation results, the desired depth is effectively tracked using the control algorithm.