A Matlab-based application for enhanced controller tuning in ArduSub ROVs: ATControlROV

Abstract

Since the 20th century, underwater research has grown exponentially due to technological advances and financial support from governments and companies. Although some research initially lacks solid funding , unmanned underwater vehicles (UUVs) or underwater robots have become essential for efficient exploration. ArduSub, an open-source solution since 2017, facilitates the control of ROVs and AUVs by leveraging drone technologies. ArduPilot, initiated in 2007, has become a global benchmark in free software for unmanned vehicles. This paper introduces ATControlROV, a MATLAB-based application designed to optimize PID control parameters for ROVs built on the ArduSub platform. ATControlROV simplifies the tuning process through a structured interface, enabling users of all experience levels to achieve enhanced stability and performance in attitude control, including yaw, pitch, and roll. The application integrates empirical and model-based approaches to fine-tune inner and outer control loops, significantly improving system responsiveness to disturbances. By democratizing access to advanced control optimization tools, ATControlROV empowers researchers and practitioners to enhance the operational efficiency of underwater vehicles, fostering innovation in academic and professional applications, especially in the underwater robotics community.