Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Author:

Li Jixu1234ORCID,Tang Yuangui123,Zhao Hongyin123,Wang Jian1234ORCID,Lu Yang123,Dou Rui123

Affiliation:

1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China

3. Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China

4. University of Chinese Academy of Sciences, Beijing 100049, China

Abstract

We propose a data-driven, model-free adaptive sliding mode control (MFASMC) approach to address the Haidou-1 ARV under-actuated motion control problem with uncertainties, including external disturbances and parameter perturbations. Firstly, we analyzed the two main difficulties in the motion control of Haidou-1 ARV. Secondly, in order to address these problems, a MFASMC control method was introduced. It is combined by a model-free adaptive control (MFAC) method and a sliding mode control (SMC) method. The main advantage of the MFAC method is that it relies only on the real-time measurement data of an ARV instead of any mathematical modeling information, and the SMC method guarantees the MFAC method’s fast convergence and low overshooting. The proposed MFASMC control method can maneuver Haidou-1 ARV cruising at the desired forward speed, heading, and depth, even when the dynamic parameters of the ARV vary widely and external disturbances exist. It also addresses the problem of under-actuated motion control for the Haidou-1 ARV. Finally, the simulation results, including comparisons with a PID method and the MFAC method, demonstrate the effectiveness of our proposed method.

Funder

National Key Research and Development Project

National Natural Science Foundation of China

Youth Innovation Promotion Association of Chinese Academy of Sciences

Publisher

MDPI AG

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