auv-lqr

LQR Control for Autonomous Underwater Vehicle (AUV) in Python

This repository present a Linear Quadratic Regulator (LQR) for Autonomous Underwater Vehicle (AUV) implemented in Python. This works is inspired from juansrojas/lqr-control-auv MATLAB codes.

Run the Program

1. Clone the repository

   git clone https://github.com/Lexciese/auv-lqr.git

   cd auv-lqr

2. Install the dependencies

   pip install -r requirements.txt

3. Run

   python3 main.py

Tune the Parameters

• You can tune the parameters in config.py which contains every variable for the vehicle dynamics

• Tune the LQR constant, Q element and R element, in main.py

• Setpoint or target can be changed in main.py at target_state variable

References

• juansrojas. (2022).
  github.com/juansrojas/lqr-control-auv: LQR Control of an Autonomous Underwater Vehicle
  Available online at juansrojas/lqr-control-auv, accessed 2025

• Fossen, T. I. (2021).
  Fossen’s Marine Craft Model.
  Available online at https://fossen.biz/html/marineCraftModel.html, accessed 2025.

• Chin, C. S. (2017).
  Computer-Aided Control Systems Design (p. 138). CRC Press.

• Fossen, T. I. (2011).
  Handbook of Marine Craft Hydrodynamics and Motion Control (p. 60). John Wiley & Sons.