Control optimization of ROV attitude stabilization system based on ETM

Abstract

This study develops an event-triggered controller for the ROV attitude system. First, the dynamic modeling of ROV attitude control is performed. The three-dimensional dynamic equation for ROV attitude control is obtained by decoupling each degree of freedom, and the model for the ROV attitude stability control system is obtained by taking into account the influence of ROV hydrodynamics, ship movement, and umbilical cable vortex-induced vibration. The ROV attitude stability control controller is designed by using backstepping control and sliding mode control, the event trigger mechanism is added to optimize its control output, and the Volterra adaptive multi-step prediction algorithm is designed to predict the ship sinking time series in advance, and the condition parameters are provided for the event trigger mechanism in the AHC controller to improve the positioning accuracy of the attitude stability axial subsystem (AHC). The simulation findings demonstrate that the control strategy and prediction algorithm developed in this study can accomplish the control task and have a strong anti-interference ability by establishing varying degrees of sea conditions and advanced forecast time for simulation tests. Additionally, the event trigger mechanism optimizes the control law, better utilizes the output control signal's channel, and prevents the control output from acting improperly, all of which can reduce network bandwidth use.

A Robust Control via a Fuzzy System with PID for the ROV

“…However, the control performance of T1FLC deteriorates significantly when various dynamic uncertainties occur. Other controllers are also applied to underwater robots; reference [ 15 ] uses a sliding mode control to realize ROV trajectory tracking, reference [ 16 ] uses an event-driven controller to set up ROV attitude stabilization system, and reference [ 17 ] introduces a sliding mode backstepping control to realize ROV control.…”