32 PERFORMANCE ANALYSIS PID AND LQR （32 PID和性能分析等方面）.pdf

International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 – INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING 6545(Print), ISSN 0976 – 6553(Online) Volume 3, Issue 2, July- September (2012), © IAEME TECHNOLOGY (IJEET) ISSN 0976 – 6545(Print) IJEET ISSN 0976 – 6553(Online) Volume 3, Issue 2, July – September (2012), pp. 320-327 © IAEME: /ijeet.html © I A E M E Journal Impact Factor (2012): 3.2031 (Calculated by GISI) PERFORMANCE ANALYSIS: PID AND LQR CONTROLLER FOR REMUS AUTONOMOUS UNDERWATER VEHICLE (AUV) MODEL S. D. Joshi¹, D. B. Talange² ¹Dept.of Electrical Engg College of Engg Pune,India.s.d.joshi@ ²Dept of Electrical Engg College of Engg Pune, India. talanged@ ABSTRACT Autonomous underwater vehicles (AUV) are used in many applications like mining, aquaculture and military applications. AUV is highly nonlinear system; modeling and controller performance is challenging issue for the researchers. In this paper a linear quadratic regulator (LQR) and proportional integral derivative (PID) controllers are designed for the depth control system of AUV. These controllers are designed for AUV model, based on REMUS 100 AUV. Design of controllers is simulated on MATLAB / SIMULINK. The results of both are compared in time domain response. Accordingly the performance is compared and observed. Keywords: LQR control, PID control, AUV, REMUS, MATLAB/SIMULINK. 1. INTRODUCTION Autonomous underwater vehicle is complex nonlinear system due to hydrodynamic uncertainties involved in it. AUV maneuver