Linear Quadratic Control for Unmanned Underwater Vehicle under the Influence of Ocean Current in Shallow Water Docking Operations

This paper investigates the performance of an unmanned underwater vehicle (UUV) under the influence of ocean current in a shallow water docking operation. A real-time signal input from quadrant detector (QD) is used for actuators command, and a forward-in-time Riccati-based observer to stabilize the vehicle. This approach does not require the dynamics of the system matrices to be known in advance, making it a realistic control approach. We use exponential stability to show the stability of the closed-loop control law due to its robustness against disturbances and parametric perturbations.