The Anti-wave control of small open-frame underwater robot

This article describes the research on the anti-wave performance of small open-frame underwater robot. Through a series of study and modeling, a computer-based numerical calculus was done on the motion round the longitudinal axis of a remotely operating vehicle (ROV) in wave. In the practical application of near surface, as the manipulators of the ROV are gripping the object, the attitude of the ROV should be kept stable. To reduce the rolling amplitude of the ROV, a control method based on the fuzzy algorithm is applied to choke back the rolling response process induced by wave. By using the lateral thrusters on the ROV, a rolling moment is applied to influence the rolling response. By comparing the results between the simulation and the numerical calculus, some effect can be found. As the similar research on ROV attitudes in wave is seldom, this study is only a exploration. Finally, a new idea of the simultaneously control of rolling and pitching is presented.