A comparative study of some control systems for a submersible

In this paper simulation result of four control strategies of heading angle (yaw) and depth for a submersible are presented. The submersible mathematical model has six degrees of freedom: three translational and three rotational. Control of the submersible is accomplished by deflection of rudder, stern plane and bowplane. This model is linearized around various operation points and for each one of them a controller is designed. Such controller consists of a linear quadratic regulator and a Kalman filter. The purpose of the paper is the study of some commutation strategies between different controllers when a change occur from one operation point to another.