Abstract
This paper describes decentralized control system simulation for autonomous underwater vehicle (AUV) using new infrastructure called open control platform (OCP), to accommodate in changing information and control components. A simulation of depth control application of AUV is considered using LQR control algorithm, by choosing a several parameters of weighting matrices computed by genetic algorithm (GA). In the simulation example shows that Matlab and CORBA (common object request broker architecture) event-channel coexistence simulation open a possibility the real-time control system performance, and it could be reconfigured easily both in semi-automatically or manually interventions by remote station to setup mission scenario, tasks scheduling, and actuator operations.
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