Performance comparison of PD, PI and LQR controller of autonomous under water vehicle

This paper presents the design of a nonlinear model of AUV (Autonomous under water vehicle) which is obtained through kinematics and dynamic equations which is linearized at an operating point to get depth plane model. A two loop controller(PI&PD) and LQR(Linear quadratic regulator) are used for controlling of the AUV. The primary focus is to simulate the controller response. The result shows that the vehicle is at a desired position and vehicle follows the desired trajectory. The response of various controllers are compared.