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Design of a PSO-based LQ Controller for Speed Tracking of Underwater Vehicles
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 19 - Number 8 |
| Year of Publication: 2011 |
| Authors: Mohammd Pourmahmood Aghababa, Mohammd Esmaeel Akbari |
10.5120/2385-3156
|
Mohammd Pourmahmood Aghababa, Mohammd Esmaeel Akbari . Design of a PSO-based LQ Controller for Speed Tracking of Underwater Vehicles. International Journal of Computer Applications. 19, 8 ( April 2011), 1-6. DOI=10.5120/2385-3156
Abstract
This paper solves a linear Quadratic (LQ) optimal control problem for underwater vehicles to track desired speeds. To obtain the linear controller, nonlinear model of the underwater vehicles is linearized around an operating point. After explaining both nonlinear and linearized models a brief description of LQ controller designing procedure is reviewed. It is assumed that all system states are available to measure. Weighting matrices (Q and R) of the linear quadratic performance index are tuned to a desired step response acquired, by using Particle Swarm Optimization (PSO) that minimizes a performance criterion. It is supposed that Q and R matrices are diagonal. After designing the LQ controller for the linear nominal model it is embedded to the nonlinear model. Using nonlinear simulations the speed tracking efficiency of designed LQ controller is shown. Control efforts of actuators reveal no saturation, therefore they are feasible to implement.
References
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