Dynamic control design LQR PI vectorial of remotely operated underwater vehicle

摘要

This Document shows the control LQR (Linear quadratic Regulator) PI (Proportional Integral)Vectorial design, which is developed to control the dynamic of a remote operated underwater vehicle ROV, to allow that the vehicle follow a horizontal trajectory autonomously . The results are showed through simulations of following the trajectory of ROV obtaining satisfactory results and complying with the objective to control the dynamic while follow a trajectory.