Development of an ROV operated both as towed and self-propulsive vehicle

Masahiko Nakamura, Hiroyuki Kajiwara, Wataru Koterayama

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


A remote-operated vehicle (ROV) developed for investigations of the sea bottom over a wide area can be operated as both a towed and a self-propulsive vehicle. Called DELTA, the shape is similar to that of a delta-wing aircraft. The vehicle has two propellers and weight shift apparatus as actuators. The paper describes the design of the control system for the vehicle. Non-linear motion equations of the towing cable and DELTA are discussed, followed by a description of the LQI control system and robust control based on H∞ control. Depth control performance was improved by the robust controller. Some successful experimental results are shown. (C) 2000 Elsevier Science Ltd. All rights reserved.

Original languageEnglish
Pages (from-to)1-43
Number of pages43
JournalOcean Engineering
Issue number1
Publication statusPublished - Jan 2001

All Science Journal Classification (ASJC) codes

  • Environmental Engineering
  • Ocean Engineering


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