Modelling of the Frame-Type ROV and Attitude Control Based on MATLAB Simulink
Zheng Dong, Boyuan Zhao, Shengqiang Zhu, Libo Zheng · Advances in transdisciplinary engineering · 2023
This paper realizes the modelling of a frame-based Remotely Operated Vehicle (ROV) and its attitude control. The modelling process primarily involves formulating momentum and angular momentum equations based on Newton’s second law. Regarding attitude control, the paper utilizes state-space control theory to linearize the nonlinear model, analyses system stability and controllability, designs a full-state feedback controller based on requirements, and conducts simulation and emulation of the results using Simulink.