Sliding mode control method of remotely operated vehicles based on parameter disturbance model

  Objective  In order to solve the remotely operated vehicle (ROV) motion control being easily influenced by the environment and model uncertainty factors, as it is difficult to achieve the desired control effect, a sliding mode control method of ROV based on a parameter disturbance model is proposed.

  Methods  On the base of standard ROV model, taking the external environmental disturbance, and the uncertainty parameter of the model as the model disturbance parameters, the ROV model with parameter disturbance is established, and the depth direction control model is obtained by decoupling the model. Under the new model, the sliding mode controller is designed for the depth determination motion of ROV. The sliding mode controller is designed based on the new model.

  Results  The simulation results show that the sliding mode controller based on the ROV model can control the ROV depth stabily, effectively and efficiently, and the control method can improve the influence of external disturbance and model parameter uncertainty.

  Conclusion  The design method of the controller can provide a solution to the problem of disturbance and model uncertainty in the ROV control process.