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BlueROV2 Control Matlab Simulink

Hello everyone,

I’m working on a project to test some control strategies on the BlueROV2. As a first step, I’d like to program a BlueROV2 simulator in Matlab/Simulink. However, I am having some trouble with the thruster allocation in the model, particularly, with the pitch and roll rotations.

Do you know some thesis/paper/project where BlueROV2 hydrodynamic parameters were obtained? I believe my problem can be solved if I consider those degrees of freedom as stable from design, but I am not really sure of that.

Thanks in advance.