Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle

Predictive control methods can substantially improve the performance of Unmanned Underwater Vehicles (UUVs), particularly in shallow water environments or near free surface where wave induced disturbance are magnitude comparable to vehicle characteristic inertia. To facilitate adoption these methods, a fast estimation time evolution hydrodynamic forces acting on is required. this end, we perform experiments tank with an ROV validate use Linear Wave Theory (LWT) capture history surge, heave and pitch moments. Validation performed for various sea states, reconstructed mean correlation 0.9138 comparison experimental measurements, displaying maximum normalised error deviation between simulation data 0.16 0.27 respectively surge forces, 0.34 moment. The effectiveness employing real-time forecasting purpose anticipatory then assessed by incorporating predicted loads within Model Controller. Results display RMS positional reduction 47.32% standard PD controller. This presents evidence that accurate, predictions wave-generated moments be produced, laying foundation developing model-based predictive strategies better suit operation harsh environments.