Model comparison of a VideoRay Pro 4 Underwater ROV

This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.