A Quantitative Parametric Study on Output Time Delays for Autonomous Underwater Cleaning Operations

Offshore pipelines and structures require regular marine growth removal inspection to ensure structural integrity. These operations are typically carried out by Remotely Operated Vehicles (ROVs) demand reliable accurate feedback signals for operating the ROVs efficiently under harsh offshore conditions. This study investigates quantifies how sensor delays impact expected control performance without need defining parameters. Input-output (IO) controllability analysis of open-loop system is applied find lower bound H-infinity peaks unspecified optimal closed-loop systems. The analyses have shown that near-structure operations, such as pipeline or cleaning, in which small error tolerances required, a threshold time delays. IO indicates off-structure navigation allow substantial larger Especially heading vulnerable delay; however, fast-responding sensors usually measure this motion. Lastly, comparison presented where available evaluated each ROV motion’s respective sensor-induced It concluded even though delay tolerance corresponding also introduce substantially