Controlling and stabilisation of remotely operated underwater vehicle
by Fahad Farooq; Noman Ahmed Siddiqui; Amber Israr; Zain Anwar Ali
International Journal of Modelling, Identification and Control (IJMIC), Vol. 43, No. 1, 2023

Abstract: Remotely operated underwater vehicles (ROVs) play a significant role in deep and shallow water missions for exploration, inspection, and extraction. This research article aims to control and stabilise the position of ROV. The motions of ROV are guided and controlled by a human pilot present on a surface through a single cord providing power. This study presents the mathematical modelling, kinematic model, and hydrodynamic model of the designed underwater vehicle. It also designs a proportional, integral, and derivative (PID) controller with the nonlinear observer model for ROV which helps in controlling and stabilising its position. The PID controller helps in controlling the altitude of the vehicle while a nonlinear observer model with PID controls and stabilises the attitude. The designed scheme was applied to the model of six degrees of freedom (DOF) ROV. The simulation results show that the designed control scheme is highly accurate and effective. It also shows higher stability and better transient response (TR).

Online publication date: Tue, 11-Jul-2023

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