In view of the motion control problem of the operation-type remotely operated vehicles(ROVs) under the uncertainty of model parameters and the disturbance of the external environment, an adaptive double-loop sliding mode control strategy based on radial basis function(RBF) neural network was proposed. Firstly, the integral sliding mode control method with an improved reaching law was adopted for controlling the position of the ROV’s outer loop, and the integral sliding mode control method with an exponential reaching law was adopted for controlling the speed of the ROV’s inner loop. Secondly, in order to further improve the chattering problem of sliding mode control, the hyperbolic tangent function was introduced as the sliding mode switching term. Subsequently, the RBF neural network control technology was used to estimate and compensate for the uncertain parameters and external disturbances of the ROV model. Finally, the stability of the whole closed-loop system was proved by using the Lyapunov stability theory, and the motion control of the operation-type ROV was simulated numerically. The simulation results verify that the controller designed in this paper can achieve precise control of ROV navigation and effectively suppress the influence of uncertain parameters of the model and external disturbances on ROV motion.


    Access

    Download


    Export, share and cite



    Title :

    ROV Motion Control Algorithm Based on RBF Neural Network Compensation


    Contributors:
    Shuaijun ZHANG (author) / Weidong LIU (author) / Le LI (author) / Jingbin LIU (author) / Liwei GUO (author) / Jingming XU (author)


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Blind Equalization Algorithm Based on Compensation Fuzzy Neural Network

    Xiao, Ying / Li, Zhen Xing / Dong, Yu Hua | IEEE | 2008


    Underwater Manipulator Backlash Lag Compensation Algorithm Based on RBF Neural Network

    Cheng, Jian / Wei, Yanhui / He, Jialin et al. | British Library Conference Proceedings | 2022


    Comprehensive Error Compensation of Machine Tools Based on BP-Neural Network Algorithm

    Wang, Hongle / Wang, Jiaxu / Zhou, Qinghua et al. | British Library Online Contents | 2017


    Reactive Power Optimization Compensation Based on Neural Network and Nonlinear Prime-Dual Interior Algorithm

    Li, Y. / Luo, A. / Tu, C.-m. et al. | British Library Online Contents | 2003


    Aircraft brake control method with neural network disturbance compensation

    LIU XIAOCHAO / LI JUEFEI / LI JUNFA et al. | European Patent Office | 2024

    Free access