.png){kind=icon}
.png){kind=icon}
Return
Motion Control of ROVs Using Improved ADRC-Based Fractional-Order Super-Twisting Sliding Mode Control
.png){kind=icon}
OA
AI
T
J
C
B
N
DOI：10.3390/jmse14161486.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
To address the motion control challenges of remotely operated vehicles (ROVs) under model uncertainties, external disturbances, and uncertain hydrodynamic parameters, this study proposes a fractional-order super-twisting sliding mode control (FOST-SMC) strategy based on improved active disturbance rejection control (IADRC). The proposed method reduces dependence on accurate dynamic models and enhances disturbance rejection capability by integrating IADRC with FOST-SMC. A sine-function-based nonlinear extended state observer (ESO) was developed to improve lumped disturbance estimation and noise robustness. The proposed ESO reduces the root mean square (RMS) estimation error from 2.226 × 10−5 to 5.224 × 10−6, corresponding to a 76.5% reduction compared with the conventional ESO. Lyapunov analysis verified the stability of the closed-loop system. MATLAB/Simulink version R2024a (MathWorks, Natick, MA, USA) simulations based on the Falcon ROV model demonstrated improved tracking performance under step response, sinusoidal tracking, and three-dimensional trajectory tracking with time-varying disturbances and Gaussian white noise. Compared with conventional active disturbance rejection control (ADRC), the proposed controller achieved average RMSE reductions of 87.0%, 57.2%, and 49.4 to 65.4% in different tracking scenarios, respectively. The proposed strategy provides an effective approach for robust ROV motion control in uncertain underwater environments.
Keywords:
remotely operated vehicle (ROV)
motion and attitude control
active disturbance rejection control (ADRC)
fractional-order sliding mode control (FOSMC)
super-twisting sliding mode control (ST-SMC)
Journal
IF:
2.8
Papers:
4.2K
Citations:
2.3W
Organization
Cited Papers