Controlling the position of a remotely operated underwater vehicle

摘要

The major problems encountered in the development of control systems for remotely operated underwater vehicles (ROV) are analyzed. The modeling of the hydrodynamic effects on the vehicle itself and on the umbilical cable is discussed. A robust control based on “sliding modes” is used and the sensor systems that can be employed are presented. Experiments with an underwater double pendulum and with a small, laboratory size, vehicle are used to check the simulation results.