Bio-inspired sliding mode controller for ROV with disturbance observer

摘要

In this paper, an improved sliding mode controller based on bio-inspired scheme is put forward to complete the depth tracking task for remotely operated underwater vehicle (ROV). Firstly, the heave motion model of ROV is rewritten in an appropriate form. Secondly, a disturbance observer is established to estimate and compensate the disturbance imposed on ROV. Afterwards the control input of ROV is derived on the basis of bio-inspired sliding mode control theory and disturbance observer. According to Lyapunov stability principle, the asymptotical stability of system is verified to be guaranteed. Finally, numerical simulations are performed to confirm the robustness and efficiency of the designed control scheme.