Resumen de Trajectory tracking control of remotely operated vehicle based on thruster dynamics

Huadong Zhou

• In order to reduce the impact of thruster dead zone on remotely operated vehicle (ROV) motion performance and ensurethat it can complete trajectory tracking control under external interference. In this paper, the adaptive backstepping slidingmode control(ABSMC) method based on improved rapid power-to-power approximation law is proposed｡Under theinfluence of external interference; ABSMC can quickly reduce the position error of the system, namely, shorten theapproaching time. When the position error is small, the system can smoothly enter the sliding surface to eliminatechattering. A new thrust distribution method based on the pseudo-inverse method is proposed for the dead zone of athruster. This method uses the pseudo-inverse method when the thrust is saturated. When all thruster thrusts areunsaturated, the thrust will remain outside the dead zone for a long time. Combined with the ABSMC method, the thrustoutput of the thruster is more smooth and more stable with small position errors. Finally, the effectiveness of the ABSMCmethod and the superiority of the new thrust distribution method is verified by simulation experiments