Remotely Operated Vehicle (ROV)–cable systems exhibit strong coupling and high dynamics, yet existing studies face notable limitations: cable models oversimplify hydrodynamic interactions and lack real-time coupling with ROV motion; control strategies largely address either ROV motion or cable deformation, with little integration; the influence of cable-related parameters on tension remains understudied. To address these, an integrated modeling and control framework is proposed, focusing on coupled modeling of cable and ROV motion control to capture bidirectional interactions, and quantify the influence of $\alpha $ (cable length–to–ROV absolute position ratio) and $v$ max (the cable take-up/payout speed threshold) on cable tension. Specifically, the Arbitrary Lagrangian–Eulerian (ALE) method and the Absolute Nodal Coordinate Formulation (ANCF) method are used to model the cable with real-time mesh updating. A closed-loop collaborative controller combines dual-loop proportional-integral-derivative (PID) control for cable control and sliding mode control (SMC) for ROV motion control, to reduce dynamic mismatch. Simulations under two typical operation scenarios quantify the combined effects of $\alpha $ and $v$ max on tension fluctuations and entanglement risk, further identifying optimal parameter settings. MATLAB/Simulink simulation results verify that the proposed framework can capture the bidirectional ROV–cable coupling mechanism, significantly improving the rationality of control decisions. This work advances coupling modeling, collaborative control, and parameter coordination, supporting deep-sea flexible system design.
