Development of a Systematic Evaluation Framework for Thruster-Based Underwater Vehicle Control

Sammanfattning

This thesis presents the development of a simulation-based evaluation frameworkaimed at systematically analyzing the closed-loop performance of thrusteractuatedunmanned underwater vehicles. The framework allows for the comparisonof different control systems and thruster configurations under a range ofoperating scenarios, including station keeping, trajectory tracking, and dynamicmaneuvers. Two control strategies: model predictive control (mpc), and linearquadratic regulator (lqr) are implemented and assessed using key performancemetrics such as tracking accuracy, energy usage, and actuator efficiency. In addition,optimization techniques are applied to improve thruster layout and evaluateits effect on system performance. The results demonstrate the framework’spotential as a versatile tool for benchmarking controllers and guiding the designof future underwater vehicles. By supporting performance evaluation and designoptimization prior to physical prototyping, the framework lays the groundworkfor more informed and systematically guided vehicle development.