Design of ROV Adaptive Sliding Mode Control System for Underwater Vehicle Based on RBF Neural Network

Abstract

The dynamic positioning control of ROV near the water surface under wave disturbance is still a challenging problem. The principle of sliding mode control and the method of approximating unknown function by RBF neural network are studied. The adaptive sliding mode controller of RBF neural network is designed. The stability and convergence of the proposed algorithm are deduced and verified, and compared with the simulation results of traditional adaptive sliding mode control methods. The simulation results show that the ROV's trajectory tracking effect is good in the wave disturbance environment. The experimental results prove the effectiveness of the method and achieved satisfactory performance.