Abstract
Aiming at the problems of unstable motion and low tracking accuracy caused by complex external disturbance during the movement of the remote operated vehicle(ROV), the adaptive control method and sliding mode control method are combined to propose a ROV adaptive sliding mode motion controller(ASM controller). The sliding mode surface is designed by exponential reaching law and saturation function to achieve rapid convergence of the control system and eliminate high-frequency buffeting, combined with adaptive algorithm to improve the anti-disturbance ability of the system, and the Lyapunov stability criterion is used to verify the controller's stability under uncertain parameters and unknown external disturbances. Simulation experiments show that the designed adaptive sliding mode controller has good maneuverability and tracking performance.
Highlights
The marine environment has the complexity and unpredictability, ROV underwater operations are vulnerable to external disturbance, especially are affected by the current impact [1]
Sliding mode control is a type of nonlinear control, which can force the system to move according to the state trajectory of a predetermined sliding mode
Based on the above studies, this paper proposes an adaptive sliding mode control method to solve the problems of motion instability and low tracking accuracy caused by complex external disturbances of ROV
Summary
The marine environment has the complexity and unpredictability, ROV underwater operations are vulnerable to external disturbance, especially are affected by the current impact [1]. Based on the above studies, this paper proposes an adaptive sliding mode control method to solve the problems of motion instability and low tracking accuracy caused by complex external disturbances of ROV. An improved exponential approach law is designed to improve the speed of error convergence by using the state error to design the sliding mode surface, and the required control rate function is calculated by combining the second order nonlinear state equation. By differentiating the sliding mode surface (7) of the designed controller, and combining the error formula and the state space equation (3), the following equation can be obtained: si = fi + biui(t) + di − xdi + λiei (16).
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