Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services

Christian Mai, Simon Pedersen, Leif Hansen, Kasper Lund Jepsen, Zhenyu Yang

Research output: Contribution to journalConference article in JournalResearchpeer-review

16 Citations (Scopus)
374 Downloads (Pure)


Remotely Operated Vechicles (ROV’s) takes a big part in the installation, maintenance and inspection of offshore subsea energy activities, such as inspections of Oil & Gas and wind energy pipelines and cables. By improving the ROV automation the operational cost can be significantly decreased as well as improving the inspection quality. This study examines an industrial ROV, where the investigations include modeling of a real industrial prototype, which is then linearized and used for Linear Quadratic Regulator (LQR) development. The results are validated both based on non-linear model simulations. Furthermore, the LQR controller is compared with the existing built-in heading and depth PID controllers, where it is shown that the LQR controller both gives an improved closed-loop transient performance and rejects noise better than the built-in controller. It is concluded that the ROV prototype has an acceptable physical design but that the automation could potentially be improved by adding a MIMO control scheme such as the proposed LQR controller.
Original languageEnglish
Book seriesIFAC-PapersOnLine
Issue number1
Pages (from-to)13686-13691
Number of pages6
Publication statusPublished - Jul 2017
Event20th IFAC World Congress - Toulouse, France
Duration: 9 Jul 201714 Jul 2017


Conference20th IFAC World Congress
City Toulouse
Internet address


  • ROV
  • Modeling
  • Robotics
  • Mechatronics
  • Automation


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