Abstract
Regular underwater inspections are crucial for ensuring the safety and maintenance of underwater structures. However, using a compact remotely operated vehicle (ROV) with inspection modules poses a significant challenge in maintaining stable control due to changes in system parameters. This paper proposes an attitude adaptive control system for vector-propelled ROVs to achieve attitude stabilization equipped with inspection modules for underwater detection. Firstly, the configuration and discrete dynamics model of the ROV are presented. Secondly, a double closed-loop attitude controller is introduced, which is integration of dynamic closed loop with the Model Prediction Controller (MPC) through online identification. Additionally, the control distribution of the vector thruster is optimized, considering angular accessibility. Finally, underwater manipulation experiments are conducted, demonstrating the system’s quick adaptation to changes in angular velocity and its ability to maintain stability when equipped with the inspection module.
This work supported in part by National Key R &D Program of China Grant No. 2022YFC3005405 and the National Natural Science Foundation of China under Grant 52072341.
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Lan, Q., Chen, B., Wang, X., Xu, T., Wang, W., Lei, Y. (2023). Adaptive Control for Compact Vector-Propelled ROVs in Underwater Detection: Enhancing Stability and Maneuverability. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_20
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DOI: https://doi.org/10.1007/978-981-99-6489-5_20
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