Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances

摘要

A dynamic model of a remotely operated vehicle (ROV) is developed. The hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX? and WAMIT?. A sliding-mode controller (SMC) is then designed for the ROV model. The controller is subsequently robustified against modeling uncertainties, disturbances, and measurement errors. It is shown that when the system is subjected to bounded uncertainties, the SMC will preserve stability and tracking response. The paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.