Abstract
Intervention on underwater structures using an ROV/manipulator system is common practice in the oil and gas industry. This paper presents a novel control scheme enabling the end-effector to keep the desired set point in unknown, time-varying current. This is crucial for safe and reliable intervention. A kinematic control scheme is suggested, where the tracking error is taken into account in generating reference velocities. The proposed scheme is compared to two other approaches, one reducing the problem to end-effector stabilization with a base with unknown motion and one using full regular kinematic control. Simulations suggest that full regular kinematic control performs worst due to the difficulty of following ROV body reference velocities. Reducing the problem to end-effector stabilization with unknown base motion yields somewhat better accuracy, whereas the suggested scheme employing knowledge about the velocity tracking error increases accuracy significantly.
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