adityaravichander/auv_lqr

Autonomous Underwater Vehicle (AUV)

Addressing the combined problem of trajectory planning and tracking control for under-actuated autonomous underwater vehicle(AUV).
Formulated the kinematics and dynamics equations for the above system.
Worked on designing a Linear Quadratic Regulator(LQR) controller, which aims at tracking a series of way-points which operator registers arbitrarily in advance.
Employed MATLAB software to carry out simulations.