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A Robust Depth Control Approach for ROVs Based on System Identification
Alireza Houshmand Sarvestani *1 , Amirhossein Najari1 , Mohammad Saeed Seif1
1- Sharif University of Technology
Abstract:   (16 Views)
Accurate control of underwater vehicles remains a critical challenge due to nonlinear dynamics, parametric uncertainties, and environmental disturbances. This paper presents an integrated approach for system identification and robust depth control of an actual Remotely Operated Vehicle (ROV). First, a nonlinear dynamic model with four degrees of freedom (4DOF) was developed in a simulation environment. Next, by employing system identification algorithms, a linear model for depth-plane dynamics was extracted. Based on this model, a robust H∞  controller was designed using the mixed-sensitivity framework, capable of maintaining stability and tracking accuracy in the presence of uncertainties and noise. Subsequently, the performance of the controller was validated through simulation. The results demonstrate that the designed controller achieves favorable stability margins and is capable of driving the reference depth tracking error to zero. Furthermore, a Kalman filter was implemented for estimating the vehicle's depth, which significantly improved estimation accuracy in the presence of sensor noise. The proposed approach can serve as a practical paradigm for developing robust, cost-effective control systems for similar underwater platforms.
 
Keywords: Remotely Operated Vehicle(ROV), Robust H∞ Control, System Identification
Full-Text [PDF 3548 kb]   (3 Downloads)    
Type of Study: Research Paper | Subject: Submarine Hydrodynamic & Design
Received: 2026/06/12 | Accepted: 2026/10/4
فایل صوتی چکیده مقاله [MP3 2035 KB]  (2 Download)
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