Purpose

A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance.

Design/methodology/approach

This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment.

Findings

In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment.

Research limitations/implications

The delays occurred in the control process can be solved in the future work.

Practical implications

The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller.

Social implications

The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks.

Originality/value

The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

中文翻译：

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用于多矢量推进 ROV 的基于增强型干扰观测器的鲁棒偏航伺服控制

目的

针对遥控车辆(ROV)偏航控制中的非线性流体动力学、参数扰动和外部扰动问题，提出了一种基于比例积分微分扩展状态扰动观测器的新型控制(PID-ESDOBC)算法。通过实验验证了PID-ESDOBC的有效性，结果表明所提出的方法可以有效地跟踪期望姿态并衰减外部干扰。

设计/方法/方法

本研究充分研究了 ROV 的水动力模型，提出了一种面向控制的 ROV 偏航方向水动力状态空间模型。在此基础上，本研究设计了PID-ESDOBC控制器，并通过Kharitonov定理和Mikhailov判据对其稳定性进行了分析。在我们的实验中，将传统的比例积分微分 (PID) 和自抗扰控制 (ADRC) 与我们的方法进行了比较。

发现

在本文中，作者通过使用 PID-ESDOBC 控制方案解决了多矢量推进 ROV 的非线性流体动力学、参数扰动和外部扰动问题。其优点是可以准确估计非线性和外部干扰并迅速衰减，而无需ROV的精确模型。与 PID 和 ADRC 相比，在超调和稳定时间方面，在池实验中平均提高了 2 倍于传统 PID 和 ADRC。

研究限制/影响

控制过程中出现的延迟可以在以后的工作中解决。

实际影响

姿态控制是 ROV 的核心问题。精确的 ROV 运动学和动力学模型以及先进的控制系统是获得更好的姿态控制机动性的关键因素。本文提出的PID-ESDOBC方法可以有效地衰减非线性和外部干扰，使得对基线控制器的响应速度快，跟踪性能好。

社会影响

本文提出的PID-ESDOBC算法可以保证ROV或其他水下设备在复杂的水下环境中进行姿态控制的精确、快速的机动性。通过这种方式，机器人可以更好地执行海底工作和任务。

原创性/价值

研究了 ROV 的动力学和标称控制模型。提出了一种新的控制方案PID-ESDOBC，以实现快速偏航姿态跟踪并有效抑制外部干扰。还分析了控制器的鲁棒性，提供了参数调整指南。所提出的控制器的有效性通过与传统 PID、ADRC 的比较进行了实验验证。