Our current control system is PID based. We can get away with this as at the slow speeds we move at our control is a relatively linear mapping between thrust and velocity. Using LQR would allow for better control in the non-linear (Fast Moving) areas.
Do we want to do this?
There already exist LQR nodes so its just the Math of creating the parameters for the LQR that needs to be done. This can be somewhat simulated in the sub as it has realistic hydrodynamics but the parameters do not match the real sub. A considerable amount of tuning time would likely be needed in the divewell.
Our current control system is PID based. We can get away with this as at the slow speeds we move at our control is a relatively linear mapping between thrust and velocity. Using LQR would allow for better control in the non-linear (Fast Moving) areas.
Do we want to do this?
There already exist LQR nodes so its just the Math of creating the parameters for the LQR that needs to be done. This can be somewhat simulated in the sub as it has realistic hydrodynamics but the parameters do not match the real sub. A considerable amount of tuning time would likely be needed in the divewell.