<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In order to reduce the impact of thruster dead zone on remotely operated vehicle (ROV) motion performance and ensure that it can complete trajectory tracking control under external interference. In this paper, the adaptive backstepping sliding mode control(ABSMC) method based on improved rapid power-to-power approximation law is proposed. Under the influence of external interference; ABSMC can quickly reduce the position error of the system, namely, shorten the approaching time. When the position error is small, the system can smoothly enter the sliding surface to eliminate chattering. A new thrust distribution method based on the pseudo-inverse method is proposed for the dead zone of a thruster. This method uses the pseudo-inverse method when the thrust is saturated. When all thruster thrusts are unsaturated, the thrust will remain outside the dead zone for a long time. Combined with the ABSMC method, the thrust output of the thruster is more smooth and more stable with small position errors. Finally, the effectiveness of the ABSMC method and the superiority of the new thrust distribution method is verified by simulation experiments.</p>
</abstract>

In order to reduce the impact of thruster dead zone on remotely operated vehicle (ROV) motion performance and ensure that it can complete trajectory tracking control under external interference. In this paper, the adaptive backstepping sliding mode control(ABSMC) method based on improved rapid power-to-power approximation law is proposed. Under the influence of external interference; ABSMC can quickly reduce the position error of the system, namely, shorten the approaching time. When the position error is small, the system can smoothly enter the sliding surface to eliminate chattering. A new thrust distribution method based on the pseudo-inverse method is proposed for the dead zone of a thruster. This method uses the pseudo-inverse method when the thrust is saturated. When all thruster thrusts are unsaturated, the thrust will remain outside the dead zone for a long time. Combined with the ABSMC method, the thrust output of the thruster is more smooth and more stable with small position errors. Finally, the effectiveness of the ABSMC method and the superiority of the new thrust distribution method is verified by simulation experiments.

Trajectory tracking control of remotely operated vehicle based on thruster dynamics

Applied Mathematics and Nonlinear Sciences

This work is licensed under the Creative Commons Attribution 4.0 International License.

In order to reduce the impact of thruster dead zone on remotely operated vehicle (ROV) motion performance and ensure that it can complete trajectory tracking...

Trajectory tracking control of remotely operated vehicle based on thruster dynamics

Publicado en línea: 28 abr 2023

Páginas: 3041 - 3060

Recibido: 25 feb 2022

Aceptado: 04 jul 2022

DOI: https://doi.org/10.2478/amns.2023.1.00018

Palabras clave
Propulsion, Trajectory tracking control, ABSMC, Thrust saturation

© 2023 Huadong Zhou, published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Trajectory tracking control of remotely operated vehicle based on thruster dynamics

Publicado en línea: 28 abr 2023

Páginas: 3041 - 3060

Recibido: 25 feb 2022

Aceptado: 04 jul 2022

DOI: https://doi.org/10.2478/amns.2023.1.00018

Palabras clavePropulsion, Trajectory tracking control, ABSMC, Thrust saturation

© 2023 Huadong Zhou, published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Palabras clave
Propulsion, Trajectory tracking control, ABSMC, Thrust saturation