This master thesis project is focused on the development of an LQR controller and its comparison with other controllers (PID and MPC), in order to successfully control an Autonomous Underwater Vehicle manipulation system. The modelling of the manipulator was performed first in Matlab and later on in Simulink-Simscape. Once the manipulator was integrated with the AUV model, the LQR controller was also developed initially in Matlab and then in Simulink. The controller was then extracted from Simulink as a C-code and verified in Stonefish. After confirming that the LQR code was working in Stonefish, its results from Simulink were compared with PID and MPC results for two different trajectories. The data for comparison and statistical analysis were divided into the two trajectory scenarios (horizontal and vertical) since the weight matrices of both controllers were different. Looking at the system’s overall behavior the Model Predictive Control (MPC) and LQR had similar results, regarding the rise time, overshoot, steady-state error and robustness to disturbances. An anticipated fact for the MPC was that it takes the longest run time for both scenarios. Lastly, as expected the PID had the worst response of all three controllers, in both scenarios. Implementing a PID on a nonlinear system, produced many oscillations without being able to stabilize at the reference value, thus giving a large steady-state error. In addition, it could not counteract the noise disturbances in the signal. ; Detta examensarbete är inriktat på utvecklingen av en LQR-styrenhet och dess jämförelse med andra kontroller (PID och MPC), för att framgångsrikt styra ett autonomt undervattensfordon-manipulationssystem. Modelleringen av manipulatorn utfördes först i Matlab och senare i Simulink-Simscape. När manipulatorn väl hade integrerats med AUV modellen, utvecklades LQR styrenheten också inledningsvis i Matlab och sedan i Simulink. Kontrollenheten extraherades sedan från Simulink som en C-kod och verifierades i Stonefish. Efter att ha bekräftat ...


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    Titel :

    Comparison of control strategies for manipulating a Hydrobatic Autonomous Underwater Vehicle ; Jämförelse av kontrollstrategier för att manipulera ett hydrobatiskt autonomt undervattensfordon


    Beteiligte:

    Erscheinungsdatum :

    2021-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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