Adaptive Trajectory Tracking Control for Remotely Operated Vehicles Based on Disturbance Observer

摘要

In this study, an adaptive trajectory tracking control method based on disturbance observer was proposed for remotely operated vehicles (ROVs). Considering the problem of modeling uncertainty and external disturbance, the online estimation method based on disturbance observer was proposed. Due to the complexity of thruster thrust model, there is an uncertain input gain in the trajectory tracking control system. Therefore, a new adaptive sliding mode control scheme is adopted. Stability analysis showed that the trajectory tracking error is uniform ultimate boundeded. Finally, simulations were conducted to show the effectiveness of the proposed controller.