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Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(1): 014-22
HUANG Bo-lun, YANG Qi. Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003
Citation: HUANG Bo-lun, YANG Qi. Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 014-22. doi: 10.11993/j.issn.2096-3920.2021.01.003
shu

Trajectory Tracking Control Method of a Work-class ROV Based on a Super-twisting Second-order Sliding Mode Controller

doi: 10.11993/j.issn.2096-3920.2021.01.003
  • 1.

    Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration, State Key laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

  • 2.

    Shanghai Jiaotong University Underwater Engineering Institute Co. Ltd .Shanghai 200231. China

  • Received Date: 2020-03-13
  • Rev Recd Date: 2020-04-23
  • Publish Date: 2021-03-01
    Abstract
  • Time-varying external disturbances and system uncertainties affect the motion of work-class remote-operated vehicles(ROVs). The conventional sliding mode method for ROV motion control has the drawback of a chattering phenomenon, whereas the common method for eliminating chattering, namely, the saturation function combined with a boundary layer sliding mode controller(SatSMC), cannot guarantee control accuracy. To address these problems, a super-twisting second-order sliding mode controller(STSMC) is proposed to realize trajectory tracking of a work-class ROV. The Lyapunov method is used to analyze the stability of the system. It is proved that the proposed controller can ensure the convergence of a tracking error in finite time. A simulation experiment of the proposed STSMC and SatSMC methods and the proportional integral derivative(PID) control are compared. Results show that the STSMC method enables the ROV to complete the tracking of a predetermined path. This method also has stronger robustness, rapidity and accuracy. The chattering of the STSMC is also significantly reduced compared to that of the SatSMC. In addition, the control parameters are not increased, making the STSMC more suitable for actual use with ROVs.

     

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