Abstract
This paper considers the dynamic modelling and simulation of an underactuated Remotely Operated Vehicle (ROV) designed by Robotic Research Centre (RRC), in Nanyang Technological University (NTU) using a ROV Design and Analysis (RDA) toolbox written in MATLAB/SIMULINK™. The proposed RDA provides a means to simulate the mathematical models of ROV and the control system design before planning for final hardware implementation. This is especially useful, as the ROV model is highly uncertain due to the hydrodynamic forces that are nonlinear and coupled. However, there is no commercial software for ROV control system design and analysis. (Received in May 2006, accepted in August 2006. This paper was with the authors 1 month for 1 revision.)
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