Numerical simulation of an automatic depth controller for an underwater vehicle

Abstract

In this paper, we analyze two diff erent mathematical strategies for solving the problem which consists in controlling a depth change manoeuverability for an specifi c type of submarine. Precisely, we will apply both controllability theory and the more classical linear quadratic optimal control theory to a simplifi ed linear model obtained from the general nonlinear DTNSRDC equations of motion. Finally, numerical results will be contrasted to show the advantages and handicaps of the proposed models. It is also important to emphasize that the results presented in this work are only a fi rst step towards a better understanding of the problem.