On Modeling of Coupled Heave-Yaw Motion of a µ-ROV

This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (µ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.