4

Modeling of a Remotely Operated Vehicle

4.1    BACKGROUND OF THE URV

In the last four decades, the use of the URV (underwater robotic vehicle) has experienced tremendous growth. Many are used for underwater inspection of subsea cables and oil and gas installations like Christmas trees, structures, and pipelines. They are essential at depths where the use of human divers is impractical. The deployments of URVs present several difficulties, as they are difficult to control remotely and autonomously. Besides, the control systems design is quite challenging, as the vehicle dynamics are highly nonlinear, uncertain and vulnerable to unknown disturbances.

Traditionally, URVs can be broadly classified as a remotely operated vehicle (ROV) and an ...

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