ABSTRACT
Remotely operated vehicles (ROV) have become an important tool in diverless subsea operations. This is mainly because of the increased operating range and depth. In addition, operation endurance and less risk to human life are important factors. ROVs are usually connected to a surface ship by a tether, through which all communication is wired. ROV control system that has a self-adaptive ability when the control performance degrades during operation due to changes in the dynamics of the ROV and its environment. A station-keeping model is used to describe the ROV dynamic during the hovering or stabilization about equilibrium. The chapter examines various control systems designs which are used to control the positions and/or velocities of the Robotics Research Centre ROV. It shows the basic of the control systems algorithms and how they can be modeled and simulated using MATLAB/Simulink software.
