Title: Controlling and stabilisation of remotely operated underwater vehicle

Authors: Fahad Farooq; Noman Ahmed Siddiqui; Amber Israr; Zain Anwar Ali

Addresses: Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan ' Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan ' Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan ' Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan

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).

Keywords: ROV; controlling; underwater vehicle; PID.

DOI: 10.1504/IJMIC.2023.132105

International Journal of Modelling, Identification and Control, 2023 Vol.43 No.1, pp.36 - 42

Received: 25 May 2022
Received in revised form: 04 Jul 2022
Accepted: 16 Jul 2022
Published online: 11 Jul 2023 *

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