Accurate prescribed-performance tracking control of ROV with limited thrust
ObjectiveThis study explores the limited thrust/torque of a remotely operated vehicle (ROV) by addressing the difficulty of achieving precise control in prescribed-performance 3D trajectory tracking. Considering unknown factors such as system uncertainty and underwater environmental disturbances, an...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2023-06-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02787 |
| _version_ | 1797785523185516544 |
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| author | Ting LU Ning WANG Renhui WANG |
| author_facet | Ting LU Ning WANG Renhui WANG |
| author_sort | Ting LU |
| collection | DOAJ |
| description | ObjectiveThis study explores the limited thrust/torque of a remotely operated vehicle (ROV) by addressing the difficulty of achieving precise control in prescribed-performance 3D trajectory tracking. Considering unknown factors such as system uncertainty and underwater environmental disturbances, an accurate tracking control scheme is proposed on the basis of a finite-time extended state observer and prescribed-performance transformation to ensure the rapid stabilization of trajectory tracking errors. MethodFirst, a compensation system is designed to eliminate the thruster input saturation constraint. Second, a finite-time extended state observer is designed to perform lumped observation and compensation for external disturbances and unknown system dynamics. Furthermore, based on the prescribed-performance function and error conversion function, the tracking error limited by the prescribed-performance is transformed into an unrestricted tracking error; an integral sliding mode is constructed; and the fast power reaching law and boundary layer are utilized to reduce the buffeting of the actuator. Finally, the Lyapunov theory is used to prove the overall stability of the proposed algorithm. ResultsThe simulation results verify the effectiveness and superiority of the designed control method. ConclusionThis study can provide a new solution for the accurate prescribed-performance control of the trajectory tracking of an ROV with constrained thrust under lumped disturbance. |
| first_indexed | 2024-03-13T00:55:17Z |
| format | Article |
| id | doaj.art-86124462400747d389e16b2341f83076 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-03-13T00:55:17Z |
| publishDate | 2023-06-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-86124462400747d389e16b2341f830762023-07-07T03:47:55ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852023-06-01183485610.19693/j.issn.1673-3185.02787ZG2787Accurate prescribed-performance tracking control of ROV with limited thrustTing LU0Ning WANG1Renhui WANG2Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, ChinaMarine Engineering College, Dalian Maritime University, Dalian 116026, ChinaMarine Electrical Engineering College, Dalian Maritime University, Dalian 116026, ChinaObjectiveThis study explores the limited thrust/torque of a remotely operated vehicle (ROV) by addressing the difficulty of achieving precise control in prescribed-performance 3D trajectory tracking. Considering unknown factors such as system uncertainty and underwater environmental disturbances, an accurate tracking control scheme is proposed on the basis of a finite-time extended state observer and prescribed-performance transformation to ensure the rapid stabilization of trajectory tracking errors. MethodFirst, a compensation system is designed to eliminate the thruster input saturation constraint. Second, a finite-time extended state observer is designed to perform lumped observation and compensation for external disturbances and unknown system dynamics. Furthermore, based on the prescribed-performance function and error conversion function, the tracking error limited by the prescribed-performance is transformed into an unrestricted tracking error; an integral sliding mode is constructed; and the fast power reaching law and boundary layer are utilized to reduce the buffeting of the actuator. Finally, the Lyapunov theory is used to prove the overall stability of the proposed algorithm. ResultsThe simulation results verify the effectiveness and superiority of the designed control method. ConclusionThis study can provide a new solution for the accurate prescribed-performance control of the trajectory tracking of an ROV with constrained thrust under lumped disturbance.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02787remotely operated vehicle (rov)3d trajectory trackingconstrained thrustsfinite-time extended state observerprescribed-performance |
| spellingShingle | Ting LU Ning WANG Renhui WANG Accurate prescribed-performance tracking control of ROV with limited thrust Zhongguo Jianchuan Yanjiu remotely operated vehicle (rov) 3d trajectory tracking constrained thrusts finite-time extended state observer prescribed-performance |
| title | Accurate prescribed-performance tracking control of ROV with limited thrust |
| title_full | Accurate prescribed-performance tracking control of ROV with limited thrust |
| title_fullStr | Accurate prescribed-performance tracking control of ROV with limited thrust |
| title_full_unstemmed | Accurate prescribed-performance tracking control of ROV with limited thrust |
| title_short | Accurate prescribed-performance tracking control of ROV with limited thrust |
| title_sort | accurate prescribed performance tracking control of rov with limited thrust |
| topic | remotely operated vehicle (rov) 3d trajectory tracking constrained thrusts finite-time extended state observer prescribed-performance |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02787 |
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