Finite‐time command filter control for dynamic positioning of remotely operated vehicles based on disturbance observer

Abstract

AbstractTo deal with the problems of low positioning accuracy and poor stability caused by model parameter uncertainty and external disturbances in the remotely operated vehicle (ROV) dynamic positioning control system, the adaptive fuzzy control is combined with a disturbance observer to estimate the lumped disturbances and the error compensation mechanism is introduced to design the ROV dynamic positioning controller based on the finite‐time command filter. The combination of finite‐time command filter control and the backstepping method ensures that the positioning error converges to a smaller neighborhood near zero in finite time. The stability of the closed‐loop system is demonstrated according to the Lyapunov stability theory. The simulation results show that a 13% performance improvement over traditional backstepping methods is achieved by the designed controller, effectively suppressing system lumped disturbances and achieving fast and accurate positioning of the desired positions.