Simulation and stability analysis of the 200-meter ROV in the absence of one thruster

This study presents the control analysis and robustness of a remotely operated vehicle (ROV) with four degrees of freedom (DOFs) in the absence of one vectored thruster. ROVs play more and more important roles in recent years, while stoppage happens to the thruster of ROV now and then. In this paper, mathematic modeling, and simulation of the 200-meter ROV are presented by a IDA- PID control system. In this way, the comparison of the velocity analysis and stability between the 200-meter ROV in the absence of one thruster and full-thruster state are given. It has been shown that the closed-loop control ability of the 200-meter ROV in the absence of one thruster decreases more or less, but is acceptable in some sea state condition.