# BlueROV2 Control Matlab Simulink

**URL:** <https://discuss.bluerobotics.com/t/bluerov2-control-matlab-simulink/7667>\
**Category:** Blue Robotics Software\
**Tags:** simulate\
**Created:** [June 29, 2020, 5:38pm UTC](https://discuss.bluerobotics.com/t/bluerov2-control-matlab-simulink/7667 "2020-06-29T17:38:22Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![JosueGlz](https://avatars.discourse-cdn.com/v4/letter/j/e480ec/32.png) [@JosueGlz](https://discuss.bluerobotics.com/u/JosueGlz)\
**Post date:** [June 29, 2020, 5:38pm UTC](https://discuss.bluerobotics.com/t/bluerov2-control-matlab-simulink/7667/1 "2020-06-29T17:38:22Z")

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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.

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**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\
**Post date:** [July 4, 2020, 2:34am UTC](https://discuss.bluerobotics.com/t/bluerov2-control-matlab-simulink/7667/2 "2020-07-04T02:34:55Z")

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Hi @JosueGlz,

This is probably what you are looking for: [https://flex.flinders.edu.au/file/27aa0064-9de2-441c-8a17-655405d5fc2e/1/ThesisWu2018.pdf](https://flex.flinders.edu.au/file/27aa0064-9de2-441c-8a17-655405d5fc2e/1/ThesisWu2018.pdf)

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**Author:** ![JosueGlz](https://avatars.discourse-cdn.com/v4/letter/j/e480ec/32.png) [@JosueGlz](https://discuss.bluerobotics.com/u/JosueGlz)\
**Post date:** [July 6, 2020, 6:21pm UTC](https://discuss.bluerobotics.com/t/bluerov2-control-matlab-simulink/7667/3 "2020-07-06T18:21:17Z")

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Thank you, Patrick. I will take a look at this. I have the BlueROV2 with six-thrusters configuration, but I assume that its hydrodynamics will be similar.