Objective  In order to improve the attitude control performance of a remote operated vehicle (ROV) in complex underwater environments, the attitude control of ROV with multi-motor coordinated propulsion is studied.

  Methods  First, for the structure and algorithm of the multi-motor system, a deviation coupling structure based on a PID speed compensator and a new non-singular terminal sliding mode control (SMC) algorithm are respectively proposed, and a novel ROV attitude control method based on multi-motor cooperative propulsion is designed. The kinematic and dynamic model of an ROV is then established, the thrust analysis of the thruster group is carried out, and the decoupling simplified ROV dynamic model is developed. Finally, the ROV sliding mode attitude controller is designed.

  Results  The simulation results show that the structure and algorithm proposed in this paper improve the anti-interference, synchronization and rapid response capabilities of the multi-motor system, thereby enhancing the stability and robustness of the ROV attitude control system.

  Conclusion  This method can provide a new solution for ROV attitude control.