Field experiments in the control of a Jellyfish tracking ROV

Continuing ocean experiments demonstrate specific applications in which a jelly-tracking ROV pilot assist enhances collection of scientific data. Recent results have repeatedly demonstrated the tracker´s ability to follow a jelly target for extended periods, as long as 34 minutes. Thus far, experimental demonstrations of the jelly tracker have incorporated a linear control law. This paper presents extensions to the control law that enable two new capabilities. The first extension compensates for steady ROV disturbances. The second extension gives pilots full authority in the space of the jelly tracking regulation law. Bias compensation serves to smooth transition from human pilot to combined computer-human control and to establish a clear zero reference for supplementary pilot commands issued during tracking. Use of the regulator space enables the pilots to view the target from multiple angles.