Adaptive Controller for ROV Based on Hybrid Theory

Abstract:

In order to deal with the model uncertainties of ROV (remotely operated vehicles) caused by current disturbances, umbilical cable and robotic manipulators, an adaptive backstepping controller and an adaptive PD controller are applied to control the ROV. The adaptive backstepping controller is used to control the horizontal motion, and the adaptive PD controller is applied to control the Vertical motion. Finally, the method is verified effective by the computer simulation.

• Periodical: Advanced Materials Research (Volumes 989-994)
• Pages: 2965-2969
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.989-994.2965
• Online since: July 2014
• Authors: Ye Hai Xie*
• Keywords: Adaptive, Backsteeping, ROV, Trajectory Control

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