[1]ZAN Yingfei,QIU Tian,YUAN Lihao,et al.Autonomous remotely operated vehicle return control in a narrow underwater environment[J].CAAI Transactions on Intelligent Systems,2022,17(4):744-751.[doi:10.11992/tis.202105032]
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Autonomous remotely operated vehicle return control in a narrow underwater environment

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 17 Number of periods: 2022 4 Page number: 744-751 Column: 学术论文—智能系统 Public date: 2022-07-05
Title:
Autonomous remotely operated vehicle return control in a narrow underwater environment
Author(s):
ZAN Yingfei1;  QIU Tian1;  YUAN Lihao1;  WANG Huifeng2;  HUANG Fuxiang2;  YIN Bingang2
1. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China;
2. Offshore Oil Engineering Co., LTD, Tianjin 300450, China
Keywords:
remotely operated vehicle; narrow environment; path following; dynamic positioning; numerical simulation; Lyapunov function; backstepping adaptive; line-of-sight guidance algorithm
CLC:
TP242.6
DOI:
10.11992/tis.202105032
Abstract:
The path following and dynamic positioning systems of the simulated remotely operated vehicle (ROV) were studied to meet the successful recovery requirements of the ROV after the completion of the operation in the narrow underwater environment. On the basis of a mathematical model built by asymmetric ROV, an adaptive controller based on the backstepping method was designed using the Lyapunov function, reverse recursion, and feedback linearization. Feedback linearization converts known nonlinear parameters into linear parameters, while adaptive control laws relax uncertain nonlinear parameters. The feasibility of applying the controller to the ROV was verified by simulation. Based on the backstepping adaptive control and line-of-sight guidance algorithm, the ROV has a good path following effect in the narrow underwater environment, good robustness, and stable dynamic positioning, which can well solve the uncertainty and nonlinear problems of the ROV’s model. This controller provides an excellent solution for ROV recovery in a narrow underwater environment.
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