Preliminary studies of the modelling and control of a twin-barrel underactuated underwater robotic vehicle

An eyeball-class remotely operated vehicle (ROV) is currently being developed by the Robotic Research Centre (RRC), in the Nanyang Technological University (NTU). From the experience of the first generation single-cylinder vehicle, RRC ROV I, modified from the Super Safir, originally manufactured in France, a "Twin Barrel" ROV is being developed-RRC ROV II. This paper discusses the modelling and control of ROV II in comparison to ROV I. Both vehicles are underactuated, utilising identical thrusters and with similar thruster configurations. ROV II is larger in size, as compared to ROV I, so as to facilitate its need to mount additional sensors and equipment. The additional sensors and improved intelligent control significantly improved the performances of ROV II. This paper briefly describes and demonstrates the PD station-keeping controllers designed for both ROV I and II. A comparison of simulation results, for vehicle yawing at 60° and 90°, are also shown.