Multiple Models Control of a Remotely Operated Vehicle: Analysis of Models Structure and Complexity

Abstract The multiple models control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths is investigated. In particular, the linear models obtained by linearization and discretization of ROV dynamics around the operating points are compared with the linear models obtained by parametric identification methods based on experimental data collected in real operative conditions. The results of this analysis produce a significative estimation of the parameters variability of the considered class of linear models. This investigation is of main relevance in the design of multiple models controllers for choosing the number of linear models and their distribution in the parameter space.

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