An Adaptive Sliding Mode Motion Control Method of Remote Operated Vehicle
Zongsheng Wang, Yue Liu, Zhendong Guan, Yan Zhang
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.