Dynamic model based control for trajectory following for an inspection-class ROV

This article is centered on the trajectory control of an inspection class remotely operated vehicle (ROV) based on a 5-thruster configuration generating four degrees of freedom (dof), three longitudinal movements and one rotation onto its yaw. The implemented control is a model-based strategy, and as a way of having redundant measurement, a velocity observer was designed. The validation is done under numerical simulation based on Runge-Kutta solver via Matlab. The graphic results show the effectiveness of the control and observer proposed.