A Study on Thrusters Failure Effects on Open-loop and Close-loop Behaviors of Remotely Operated Vehicles (ROVs)

This paper addresses the problem of actuator fault detection for a Remotely Operated Vehicles (ROVs) widely used in underwater missions. The study of ROVs’ open-loop and close-loop behaviors under thrusters’ failure can bring us a bright sight into the ROV’s operational conditions. So, thruster dynamic responses have been experimentally extracted to have a more accurate thruster model. Then, dead zone and saturation dynamics which are the most dominant thruster dynamics are imported into the simulation model. Also, some scenarios are simulated to investigate the ROV’s motion performance under healthy and faulty conditions in both open-loop and close-loop operational modes. The simulation results express that, in the open-loop condition, distribution of the force under faulty condition influence on ROV’s motion behavior. Also, those inform us the PID controller can regulate ROV under both healthy and faulty condition.