This project analyzes the mathematical model of a Remotely Operated Vehicle (ROV) to design a Linear Quadratic Regulator (LQR) tracking controller. A co-simulation environment, integrating Gazebo and MATLAB/Simulink, is established to evaluate the controller's effectiveness under realistic conditions. Furthermore, a physical ROV model is built for experimental validation of its performance in real-world scenarios. The results demonstrate the proposed control system's ability to accurately track desired trajectories and maintain stability amidst varying environmental conditions.

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