A MIMO Nonlinear Robust Controller for Work-Class ROVs Positioning and Trajectory Tracking Control

摘要

In this paper, for the positioning and trajectory tracking control of work-class ROVs with parameter uncertainties and unknown disturbances, a systematically MIMO nonlinear robust controller design method based on adaptive backstepping technique and sliding control is introduced. By Lyapunov stability design method, the locally asymptotically stability of closed-loop control system has been proved. The effectiveness of controller has been demonstrated by simulation studies. The simulation results on a work-class ROV proved that the proposed control method has good control performance, and the controller is robust to parameter uncertainties and unknown disturbances.