Controlling and Stabilizing the Position of Remotely Operated Underwater Vehicle Equipped with a Gripper

  • Zain Anwar Ali
  • Xinde LiEmail author
  • Muhammad Ahsan Tanveer


Gripper mounted remotely operated underwater vehicle (ROUV) delivers more attractive and flexible solution to grasp the wanted objects inside the deep water. The main aim of this research is to stabilize and control the position of fully actuated (ROUV) equipped with a gripper. The nonlinear model based observer along with proportional, integral and derivative (PID) controller designed to stabilize and control the position of fully actuated ROUV along with the motion of attached gripper in it. However, the PID controller utilize to control the altitude of the vehicle and nonlinear-based observer with PID controller designed to control and stabilize the attitude of ROUV. The designed control algorithm applied on the model of six degrees of freedom (6 DOF) ROUV attached with a gripper that has (2 DOF) that makes total (8 DOF) to control. The hydrodynamic behavior, instability that produces by the arm that is the main reason to design two different controllers to control and stabilize the altitude and attitude of ROUV. Hence, it observes that designed control scheme has better stability and better transient behavior.


Li-ROUV Underwater vehicle Underwater controlling PID controller 



The above research is dedicated to Professor Li Xinde, School of Automation Engineering, South-East University, Nanjing, Jiangsu, China.


This work was supported in part by the National Natural Science Foundation of China under Grant 61573097 and 91748106, in part by Key Laboratory of Integrated Automation of Process Industry (PAL-N201704), in part by the Fundamental Research Funds for the Central Universities (3208008401), in part by the Qing Lan Project and Six Major Top-talent Plan, and in part by the Priority Academic Program Development of Jiangsu Higher Education Institutions.


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Authors and Affiliations

  1. 1.School of Automation EngineeringSouth East UniversityNanjingChina
  2. 2.Department of Electronic EngineeringSir Syed University of Engineering and TechnologyKarachiPakistan

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