Multivariable fast nonsingular terminal sliding mode control for remotely operated vehicle
作者单位：School of Electronics and InformationJiangsu University of Science and Technology No.704 Institute of China Shipbuilding Industry Corporation(CSIC)
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造]
基 金：supported by National Natural Science Foundation of C hina(Grant no.11574120) University Science Foundation of Jiangsu province in China.(Grant no.BK20160564) Jiangsu Province International Science and Technology Cooperation Project(BZ2016031)
关 键 词：Sliding Mode Control MFNTSM Multivariable Control Dynamic Positioning Remotely Operated Vehicle
摘 要：Remotely Operated Vehicle（ROV） need to maintain the stability of the ROV body as much as possible to achieve efficient operation,so the ROV dynamic positioning technology is essential.A new multivariable fast nonsingular terminal sliding mode control（MFNTSM） method is proposed for the problem that global convergence of the nonsingular terminal sliding mode control（NTSM） method is *** six-degree-of-freedom motion model of our ROV is established based on the hydrodynamic coefficients calculated by the pool experiment and numerical ***,the new sliding mode controller（MFNTSM） is simulated and compared with the NTSM under the condition of static water and *** results show that the MFNTSM controller has better convergence speed and better robust performance than the NTSM controller in the dynamic positioning system.