Stabilizing control based observer for a remotely operated vehicle (ROV-observer)

A remotely operated vehicle stabilizing problem, known as ROV-Observer for sub-sea historical sites observation, is addressed in this paper. To success this task, a first part of our study consists to reduce the complexity of the total dynamic model, hence, a rigorous formulation for the control objectives. A constant surge velocity as part of the equilibrium is considered, and around this vector of state a kino-dynamic model is addressed. As only positions are available, the stabilizing control objectives integrate an observation model to the ROV´s local and global velocities. We prove that the ROV is asymptotically stable at the equilibrium. The effectiveness of these results are shown in simulation.