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

Eslami, Mostafa; Chin, Cheng Siong; Nobakhti, Amin

doi:10.1007/s11804-018-0037-1

Cited by 15 publications

(10 citation statements)

References 30 publications

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“…Meanwhile, the off-diagonal entries are also neglected to simplify the dynamical model. Here, we adopt the model of ROV expressed in the body-fixed coordinates, which can be written as (Eslami et al, 2019):…”

Section: Controller System Design and Stability Analysismentioning

confidence: 99%

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Gong

Lin

et al. 2021

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Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

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Section: Controller System Design and Stability Analysismentioning

confidence: 99%

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Gong

Lin

et al. 2021

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“…Automatic cleaning off sub-sea structures requires good trajectory tracking and disturbance rejection. Different control algorithms have been used for ROVs concerning these objectives, some of which are based on model predictive control (MPC) [7,8] or sliding mode control (SMC) [9,10,11]. MPC offers better overall performance compared to SMC.…”

Section: Introductionmentioning

confidence: 99%

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

Benzon

Sørensen

Liniger

et al. 2021

2021 European Control Conference (ECC)

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Oil & gas operators spend tens of million USD every year on removing marine growth, using manually operated remotely operated vehicles (ROV) with water jets. This study investigates the benefits of automating the ROV used for cleaning by demonstrating a sliding mode control (SMC) algorithm on a reconfigured BlueROV2 with an attached water jet. A nonlinear SMC was designed for the cleaning task. SMC was able to stabilize the orientation of the ROV while following a trajectory in depth. Regular SMC could not stabilize the ROV in front of the member, with the water jet activated. To accommodate for the delay, integral action was added to the SMC (IxSMC) in the surge direction, which stabilized the ROV. From the research presented in this paper, it can be concluded that automation of a marine growth removing ROV can be achieved by applying IxSMC.

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“…[2][3][4]6,8,[10][11][12]14,15 Various types of sliding mode control (SMC) algorithms were considered, among others, in the literature. 6,8,11,13,[15][16][17] However, different tracking strategies are successfully applied, for example, based on backstepping technique, 18 gain scheduling control theory, 19 bio-inspired neurodynamics approach, 20 so-called RISE algorithm 10 or control approach using an observer, 21 adaptive recurrent neurofuzzy control, 22 neural network control, 23 and an output feedback control, which use a vehicle model. 24 In the current literature, more other control algorithms can be found, for example, combination of fuzzy logic, genetic algorithm, and SMC, 25 model predictive control, 26 a method in which the port-Hamiltonian theory is applied, 5 combination of recurrent neural network and receding horizon optimization, 27 combination of SMC and backstepping, 14 and backstepping active disturbance rejection control.…”

Section: Introductionmentioning

confidence: 99%

“…Examples of such marine systems can be found. [4][5][6][7][8][9] Many control algorithms are expressed in the earthfixed representation, as in the literature. [2][3][4]6,8,[10][11][12]14,15 Various types of sliding mode control (SMC) algorithms were considered, among others, in the literature.…”

Section: Introductionmentioning

confidence: 99%

“…[4][5][6][7][8][9] Many control algorithms are expressed in the earthfixed representation, as in the literature. [2][3][4]6,8,[10][11][12]14,15 Various types of sliding mode control (SMC) algorithms were considered, among others, in the literature. 6,8,11,13,[15][16][17] However, different tracking strategies are successfully applied, for example, based on backstepping technique, 18 gain scheduling control theory, 19 bio-inspired neurodynamics approach, 20 so-called RISE algorithm 10 or control approach using an observer, 21 adaptive recurrent neurofuzzy control, 22 neural network control, 23 and an output feedback control, which use a vehicle model.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Use of a nonlinear controller with dynamic couplings in gains for simulation test of an underwater vehicle model

Herman

2021

International Journal of Advanced Robotic Systems

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The article considers a method of examining the influence of dynamic couplings contained in the underwater vehicle model on the movement of this vehicle. The method uses the inertia matrix decomposition and a velocity transformation if the fully actuated vehicle is described in the earth-frame representation. Based on transformed equations of motion, a controller including dynamic couplings in the gain matrices is designed. In the proposed method, the control algorithm is used for the test vehicle dynamics model taking into account disturbances. The approach is useful for simulating the model of an underwater vehicle and improving it, thus avoiding unnecessary experiments or planning them better. The procedure is shown for a full model of an underwater vehicle, and its usefulness is verified by simulation.

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

Cited by 15 publications

References 30 publications

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Integral Sliding Mode Control for a Marine Growth Removing ROV with Water Jet Disturbance

Use of a nonlinear controller with dynamic couplings in gains for simulation test of an underwater vehicle model

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