LQG/LTR control for a propelled AUV: A Python software

Abstract

Advanced control systems are the major interest in robotics, unmanned aerial vehicles, unmanned maritime vehicles, and other complex systems. The design and validations of these control approaches have been commonly carry out by commercial and non-commercial software to solve numerically the dynamics equations in multiple degrees of freedoms. This work proposes a Python software to solve the problem of LQG/LTR control of a propelled autonomous underwater vehicle. Many features are included, such as the nonlinear simulation, multivariable linearization by numerical approximation, setting of a better allocation for the propellers. Recent versions of ROS2 Iron and Gazebo Harmonic are the keystone to build the AUV Simulator in which the open loop and closed loop maneuvers can be tested quite well. The obtained sensitivity functions present slopes above |20| dB/dec in surge and yaw dynamics, indicating robustness in performance and stability, and validating the software functionalities.

Keywords

• AUV control
• Python
• ROS2 iron
• Gazebo harmonic