Session: 04-06-02 Underwater Vehicles and Subsea Communications II

Submission Number: 181322

Adaptive Integral Sliding Mode Control for ROV With Online Parameter Identification 

Adaptive Integral Sliding Mode Control for ROV with Online Parameter Identification

Weidong Jiang,Yiting Wang,Lei Wang,Ming Ding

Abstract:
This paper investigates the trajectory tracking control problem of Remotely Operated Vehicles (ROVs) operating in complex underwater environments with significant model uncertainties and time-varying external disturbances. To enhance robustness and tracking performance, an adaptive integral sliding mode control framework integrated with a forgetting factor recursive least squares (FFRLS) parameter identification method is proposed. The FFRLS algorithm is first employed to perform online identification of uncertain hydrodynamic parameters, which effectively mitigates the data saturation problem commonly encountered in conventional recursive identification schemes and enables more accurate real-time model updating. Based on the identified dynamic model, an integral sliding mode controller is developed to compensate for modeling errors and external disturbances. A saturation function is incorporated into the control law to alleviate chattering phenomena, thereby ensuring smoother control inputs and improved practical implementability. In addition, an adaptive estimation law is designed to online estimate the unknown upper bound of lumped uncertainties and disturbances, which eliminates the need for prior knowledge of disturbance bounds. Comprehensive numerical simulations are conducted to validate the effectiveness of the proposed control strategy. The results demonstrate that the proposed method achieves higher trajectory tracking accuracy, stronger disturbance rejection capability, and smoother control performance compared with conventional control approaches, highlighting its suitability for robust ROV motion control applications.

Keywords: Remotely Operated Vehicles; Trajectory Tracking Control; Adaptive Integral Sliding Mode Control; Online Parameter Identification; Forgetting Factor Recursive Least Squares

Presenting Author: Weidong Jiang Shanghai Jiao Tong University

Presenting Author Biography: Ph.D. candidate at Shanghai Jiao Tong University, focusing on control systems for unmanned surface and underwater vehicles, including USVs, ROVs, and AUVs.

Authors:

Weidong Jiang Shanghai Jiao Tong University
Yiting Wang Shanghai Jiao Tong University
Lei Wang Shanghai Jiao Tong University
Ming Ding Shanghai Jiao Tong University