Second-order Integral Sliding Mode Motion Control for Remotely Operated Vehicle

Abstract

Abstract Remotely operated vehicles (ROVs) have the characteristics of nonlinearity and strong coupling, which pose difficulties in the motion control of underwater vehicles. This paper introduces a second-order integral sliding mode control (SOISMC) for precise trajectory tracking control. Firstly, kinematic and dynamic models are established to describe the motion characteristics of the ROV. Secondly, a second-order integral sliding mode controller is designed, and the stability is verified using the Lyapunov stability criterion. Simulation outcomes validate the efficacy of the proposed controller, demonstrating superior convergence speed and robustness when compared to alternative control methods.