Aim of this project is to control 8 thrusters of an AUV using PID and LQR controllers.
Checkout the Theory.md file inside the MCS folder. It has all the content required to understand this project.
The Non-Linear PID model(.slx file) is provided which explains the control system with PID controller.
For the LQR controller based control system, there are two files provided:
- One is the '.m' file that is required to be executed to implement the '.slx' file.
- 'LQR_1.slx' uses a basic LQR controller with any white noise added. Check out both the models made using this controller in the same '.slx file'(one uncommented and the other commented).