Abstract
This research proposes designing of optimal output feedback controller technique for a nonlinear dynamical system of Autonomous Underwater Vehicle in its Diving Plane. The motion of AUV is based on coupled models of propeller rotation, diving and steering planes. The six Degree Of Freedom nonlinear dynamical model of AUV is tested by incorporating various stability tests to have understanding about its stability. This model is then decoupled and optimal controller is then designed for its diving plane. All the states stabilize efficiently on application of optimal controller. Robust state estimator is then incorporated with the optimal controller to propose an optimal output feedback controller. Simulations results of diving plane implementing optimal controller and robust state estimator are presented validating the effectiveness of the proposed optimal output feedback controller.
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