Author(s) :

Rishi Pudipeddi.

Volume/Issue :

Abstract :

Small underwater robots must hold depth, attitude, and position in the face of strong disturbances while running on limited onboard processors. To inform controller choice under these constraints, this study conducted a quantitative analysis of closed-loop controllers applied to ROVs with a qualitative analysis of the feasibility of running these controllers on different compute platforms. Evidence was drawn from comparative studies that evaluated multiple controllers within the same specific experimental setup, and the performance of controllers was assessed by computing the win-rates of controller families under the same experimental conditions. Controllers were grouped under the families PID, Fuzzy, Optimal, SMC, and MPC. The findings outline clear performance patterns and practical compute tradeoffs, offering guidance for choosing controllers under embedded constraints while highlighting where further head-tohead testing would be most informative.