Multi-vector arrangement is a novel propulsion architecture for remotely operated vehicles (ROV) because of its high manoeuvrability and efficiency, but the influence on the ROV dynamics and attitude servo control has not yet been clearly evaluated. This study fully investigated the kinematic behaviours of a hexagonal multi-vector propulsion ROV with communication delay constraint and reduced the complex model for precision control system design. An enhanced model-based PI robust controller (EMPRC) based on the nominal model is proposed to solve the nonlinear hydrodynamics and communication problems with high performance yaw control, whose stability is also analysed. The conventional proportional-integral-derivative (PID) and integral separation PID are used in the experiments for comparison. The results indicate that the proposed EMPRC can effectively track the desired attitude and reject the external disturbances, while the conventional ones are limited by the nonlinear dynamics and communication delays. The improvement is 3x on average in terms of overshoot, settling time and anti-disturbance recovery time compared to conventional algorithms and proves this proposed novel EMPRC is a practical solution for multi-vector propulsion ROVs.

中文翻译：

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基于多矢量推进和非线性控制器的 ROV 实用稳健偏航伺服架构

多矢量布置是遥控车辆（ROV）的一种新型推进架构，因为其具有高机动性和效率，但对 ROV 动力学和姿态伺服控制的影响尚未得到明确评估。本研究充分研究了具有通信延迟约束的六边形多矢量推进ROV的运动学行为，并简化了精密控制系统设计的复杂模型。提出了一种基于标称模型的增强型基于模型的 PI 鲁棒控制器 (EMPRC)，以解决具有高性能偏航控制的非线性流体动力学和通信问题，并对其稳定性进行了分析。实验中采用传统的比例-积分-微分(PID)和积分分离PID进行比较。结果表明，所提出的 EMPRC 可以有效地跟踪期望姿态并拒绝外部干扰，而传统的 EMPRC 受到非线性动力学和通信延迟的限制。与传统算法相比，在超调、稳定时间和抗干扰恢复时间方面平均提高了 3 倍，并证明了这种提出的新型 EMPRC 是多矢量推进 ROV 的实用解决方案。