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Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Yihui Gong (Department of Control Science and Engineering, Ocean University of China, Qingdao, China)
Lin Li (Ocean University of China – Laoshan Campus, Qingdao, China)
Shengbo Qi (Department of Control Science and Engineering, Ocean University of China, Qingdao, China)
Changbin Wang (Department of Control Science and Engineering, Ocean University of China – Laoshan Campus, Qingdao, China)
Dalei Song (Department of Control Science and Engineering, Ocean University of China, Qingdao, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 6 April 2021

Issue publication date: 3 August 2021

85

Abstract

Purpose

A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance.

Design/methodology/approach

This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment.

Findings

In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment.

Research limitations/implications

The delays occurred in the control process can be solved in the future work.

Practical implications

The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller.

Social implications

The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks.

Originality/value

The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

Keywords

Acknowledgements

This research was funded by Fundamental Research Funds for the Central Universities under Grant 201962012.

Citation

Gong, Y., Li, L., Qi, S., Wang, C. and Song, D. (2021), "Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion", Industrial Robot, Vol. 48 No. 3, pp. 366-377. https://doi.org/10.1108/IR-09-2020-0184

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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