Modelling, parameters identification and sliding mode control for the pitch control system of an remotely operated vehicle

摘要

In this paper, the problem of the Super-twisting sliding mode control (ST-SMC) is concerned for the pitch control system of a remotely operated vehicle(ROV). A novel kinetic model of ROV's pitch motion is established by using stress analysis. The purpose of the addressed pitch control problem is to design a Super-twisting sliding mode controller to drive the state of the pitch angle control system for a remotely operated vehicle to the desired value. A sliding surface is firstly constructed and an ST-SMC law is synthesized to ensure the reaching condition. Moreover, the total control condition is also given out to make the effect of the controller better. Then, by using the Lyapunov stability theory, the stability of the addressed pitch control problem is guaranteed. A simulation example is given to illustrate the effectiveness of the proposed design scheme.