Dynamics and motion control of Underwater remotely operated vehicles and highly flexible elastic rods

Abstract

This thesis develops analytical- and numerical-oriented tools for the dynamic analysis and motion control of ROVs, using an integrated approach where hydrodynamics, control, and cable e_ects are considered. These tools facilitate the analysis, design, and operation of ROV systems and are aimed at answering questions about their motion feasibility. They are grounded on available theory to model the ROV and cable, design of feedback control, and thrust allocation. Subsequently, this work contributes means to study the hydrodynamics of an ROV and develops a framework where hydrodynamics and other motion-relevant systems can be integrated and evaluated.