A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible
An unmanned free-swimming submersible (UFSS) is designed to perform certain tasks in water without interposing humans. The vehicle’s control is achieved by integrating mathematical (analog) and non-mathematical (embedded) controllers. The main goal of integrated controllers is to overcome the enviro...
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MDPI AG
2021-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/19/9131 |
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| author | Hassan Tariq Muhammad Rashid Muhammad Asfand Hafeez Saud S. Alotaibi Mohammed H. Sinky |
| author_facet | Hassan Tariq Muhammad Rashid Muhammad Asfand Hafeez Saud S. Alotaibi Mohammed H. Sinky |
| author_sort | Hassan Tariq |
| collection | DOAJ |
| description | An unmanned free-swimming submersible (UFSS) is designed to perform certain tasks in water without interposing humans. The vehicle’s control is achieved by integrating mathematical (analog) and non-mathematical (embedded) controllers. The main goal of integrated controllers is to overcome the environmental disturbances and noise of the sensor data. These disturbances, as well as the noise data, are generated during steering, diving, and speed control. The amplitude of disturbances and noise varies with the depth and intensity of water waves. This article presents a robust hybrid linear quadratic regulator (HLQR) controller for UFSS. The presented controller targets the desired state of the UFSS in the presence of a disturbing environment. The hybrid approach is achieved by employing: (1) two linear quadratic regulators or controllers and (2) a mathematical structure of the Riccati equation. Consequently, the proposed HLQR controller is integrated into the UFSS system to evaluate the response in terms of settling time, rise time, overshoot, and steady-state error. Furthermore, the robustness of the HLQR is investigated by considering the feedback to step response and hydrodynamic disturbances. The implementation results reveal that the proposed controller outperforms state of the art controllers, such as proportional-integral-derivative and lead-compensator controllers. |
| first_indexed | 2024-03-10T07:06:06Z |
| format | Article |
| id | doaj.art-ce7a737f8b0e4c628d3c62e4ecfea571 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T07:06:06Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ce7a737f8b0e4c628d3c62e4ecfea5712023-11-22T15:48:12ZengMDPI AGApplied Sciences2076-34172021-09-011119913110.3390/app11199131A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming SubmersibleHassan Tariq0Muhammad Rashid1Muhammad Asfand Hafeez2Saud S. Alotaibi3Mohammed H. Sinky4Department of Electrical Engineering, School of Engineering, University of Management and Technology (UMT), Lahore 54770, PakistanDepartment of Computer Engineering, Umm Al-Qura University, Makkah 21955, Saudi ArabiaDepartment of Electrical Engineering, School of Engineering, University of Management and Technology (UMT), Lahore 54770, PakistanDepartment of Information Systems, Umm Al-Qura University, Makkah 21955, Saudi ArabiaDepartment of Computer Engineering, Umm Al-Qura University, Makkah 21955, Saudi ArabiaAn unmanned free-swimming submersible (UFSS) is designed to perform certain tasks in water without interposing humans. The vehicle’s control is achieved by integrating mathematical (analog) and non-mathematical (embedded) controllers. The main goal of integrated controllers is to overcome the environmental disturbances and noise of the sensor data. These disturbances, as well as the noise data, are generated during steering, diving, and speed control. The amplitude of disturbances and noise varies with the depth and intensity of water waves. This article presents a robust hybrid linear quadratic regulator (HLQR) controller for UFSS. The presented controller targets the desired state of the UFSS in the presence of a disturbing environment. The hybrid approach is achieved by employing: (1) two linear quadratic regulators or controllers and (2) a mathematical structure of the Riccati equation. Consequently, the proposed HLQR controller is integrated into the UFSS system to evaluate the response in terms of settling time, rise time, overshoot, and steady-state error. Furthermore, the robustness of the HLQR is investigated by considering the feedback to step response and hydrodynamic disturbances. The implementation results reveal that the proposed controller outperforms state of the art controllers, such as proportional-integral-derivative and lead-compensator controllers.https://www.mdpi.com/2076-3417/11/19/9131linear quadratic regulatorlead-compensatorRiccati modelproportional-integral-derivative |
| spellingShingle | Hassan Tariq Muhammad Rashid Muhammad Asfand Hafeez Saud S. Alotaibi Mohammed H. Sinky A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible Applied Sciences linear quadratic regulator lead-compensator Riccati model proportional-integral-derivative |
| title | A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible |
| title_full | A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible |
| title_fullStr | A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible |
| title_full_unstemmed | A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible |
| title_short | A Hybrid Linear Quadratic Regulator Controller for Unmanned Free-Swimming Submersible |
| title_sort | hybrid linear quadratic regulator controller for unmanned free swimming submersible |
| topic | linear quadratic regulator lead-compensator Riccati model proportional-integral-derivative |
| url | https://www.mdpi.com/2076-3417/11/19/9131 |
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