Improvement in ROV Horizontal Plane Cruising Using Adaptive Method

Control of underwater remotely Operated Vehicles (ROVs) is challenging due to its highly nonlinear nature, strong coupling among variables and disturbances. Performance improvement is expected if adaptive methods are used to observe time varying model factors resulting from working point condition alteration. In this respect, feedback linearization and model reference adaptive control (MRAC) algorithms are integrated to form a control strategy for administering the horizontal plane cursing of the vehicle. The algorithm achievement is compared with what conventional PID controllers render in term of transient and steady state behavior. Extensive simulations conducted confirm the promising favorable results of the arrangement.