Trajectory tracking control of remotely operated vehicle based on thruster dynamics
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...
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| Format: | Article |
| Language: | English |
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Sciendo
2023-01-01
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| Series: | Applied Mathematics and Nonlinear Sciences |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/amns.2023.1.00018 |
| _version_ | 1797688773139496960 |
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| author | Zhou Huadong |
| author_facet | Zhou Huadong |
| author_sort | Zhou Huadong |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-12T01:35:34Z |
| format | Article |
| id | doaj.art-d5bedd4c49ff4535bf6c6b369dc0ded9 |
| institution | Directory Open Access Journal |
| issn | 2444-8656 |
| language | English |
| last_indexed | 2024-03-12T01:35:34Z |
| publishDate | 2023-01-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Applied Mathematics and Nonlinear Sciences |
| spelling | doaj.art-d5bedd4c49ff4535bf6c6b369dc0ded92023-09-11T07:01:10ZengSciendoApplied Mathematics and Nonlinear Sciences2444-86562023-01-01813041306010.2478/amns.2023.1.00018Trajectory tracking control of remotely operated vehicle based on thruster dynamicsZhou Huadong01School of Electronic Engineering, Xi’an Shiyou University, Xi’an, Shaanxi, 710065, ChinaIn 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.https://doi.org/10.2478/amns.2023.1.00018propulsiontrajectory tracking controlabsmcthrust saturation68t99 |
| spellingShingle | Zhou Huadong Trajectory tracking control of remotely operated vehicle based on thruster dynamics Applied Mathematics and Nonlinear Sciences propulsion trajectory tracking control absmc thrust saturation 68t99 |
| title | Trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| title_full | Trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| title_fullStr | Trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| title_full_unstemmed | Trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| title_short | Trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| title_sort | trajectory tracking control of remotely operated vehicle based on thruster dynamics |
| topic | propulsion trajectory tracking control absmc thrust saturation 68t99 |
| url | https://doi.org/10.2478/amns.2023.1.00018 |
| work_keys_str_mv | AT zhouhuadong trajectorytrackingcontrolofremotelyoperatedvehiclebasedonthrusterdynamics |