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This research paper presents the application of linear quadratic regulator (LQR) control on a 3-degree-of-freedom (DOF) Marine Robot (USV). Marine Robots are multivariable, nonlinear, and coupled systems. Controlling these vehicle trajectories is a challenging task for researchers. The LQR control algorithm is designed to make the USV track a desired reference point. The research investigates the effectiveness of the LQR control algorithm on the USV. Simulation results show that by LQR control algorithm, the USV can effectively track the reference point. These results are better compared with other conventional techniques.

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Optimal Control Applications in Marine Robot Vehicles

  • 会议论文

  • 发表日期：

    2025年

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  • Arun,
  • M. P. R. Prasad

摘要

This research paper presents the application of linear quadratic regulator (LQR) control on a 3-degree-of-freedom (DOF) Marine Robot (USV). Marine Robots are multivariable, nonlinear, and coupled systems. Controlling these vehicle trajectories is a challenging task for researchers. The LQR control algorithm is designed to make the USV track a desired reference point. The research investigates the effectiveness of the LQR control algorithm on the USV. Simulation results show that by LQR control algorithm, the USV can effectively track the reference point. These results are better compared with other conventional techniques.