Optimal Control of a Crawler-type ROV

This article presents the results of a study on a prototype of crawler-type ROV and proposed a linear quadratic regulator controller to stabilize the system. Dynamic equations of the system are derived based on Newton-Euler method. The main purpose of this paper is the control strategies design for the crawler ROV s to best cover an area. Accordingly, an optimal controller (LQR) has been designed using full-state feedback to control the crawler robot.