| Sub sea pipeline is the important part in the development of sea oil. During the long period of services, its material could be damaged due to the mobility of the seabed, corrosion, or human activities like marine traffic or fishing. These kinds of potential hazardous situations or damages could harm the safety of the underwater pipelines and human lives. According to the present international and domestic requirement of the regulations for the underwater pipeline, routine or annual inspection to the pipelines should be taken to ensuring the safely or longer period of using of the pipeline. The internal and external inspections to the pipelines have been commonly in use. Nowadays, those tasks of vigilance and inspection are carried out using video cameras or magnetometers or sonar attached to Remotely Operated Vehicles (ROVs) controlled from the surface by trained operators. The purpose of this dissertation is to research on the control of the ROV carrying out the task of underwater pipeline inspection.In the first pat of this dissertation, a detailed review was given to the brief history of ROV and its control techniques, data fusion, and inspection methods of pipelines. Then a framed ROV configuration which could fulfill the inspection function was proposed, and the functions of its components were analyzed.A kinematical model of four degree of freedom and simulation model for the ROV were set up.An adaptive fuzzy control based on adjustable factor is applied to the ROV. The control process was analyzed based on fuzzy control, then a self-optimizing method to the adjustable factor in the formula of fuzzy inference CRI (Composition rule of inference) was proposed to achieve the goal for the purpose of self adjustable and adaptive to the control rule.A direct adaptive controller was designed based on fuzzy logic. According to the principle of the universal approximation, an adaptive fuzzy controller was designed using fuzzy base function to approximate any continue functions. The...
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