Optimal Steering Controller Based on Backstepping Technique for an Underwater Remotely Operated Vehicle (ROV)

Abstract: The design of Remotely Operated Vehicle (ROV) steering poses challenges due to the dynamic properties of the vessel, which vary significantly based on hydrodynamic coefficients. This paper develops a robust controller based on optimal nonlinear control combined with the backstepping technique for ROV steering in the presence of unknown bounded environmental disturbances induced by waves and ocean currents. Control performance can be guaranteed through an appropriate selection of design parameters. Results obtained for a 1-meter long ROV validate the effectiveness of the proposed controller in achieving precise position and steering control under dynamic underwater conditions.