Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels
Efficient cleaning is crucial in aquaculture vessels; however, Remotely Operated Vehicles (ROVs) encounter difficulties in regard to trajectory tracking within confined chambers, because of structural nonlinearities and environmental disturbances. To address these challenges, this paper proposes a m...
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/56 |
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| author | Hua Zhang Shuangxi Xu Yonghe Xie |
| author_facet | Hua Zhang Shuangxi Xu Yonghe Xie |
| author_sort | Hua Zhang |
| collection | DOAJ |
| description | Efficient cleaning is crucial in aquaculture vessels; however, Remotely Operated Vehicles (ROVs) encounter difficulties in regard to trajectory tracking within confined chambers, because of structural nonlinearities and environmental disturbances. To address these challenges, this paper proposes a multi-scale dynamic sliding mode adaptive control (MDSMAC) scheme to compensate for the effects of structural nonlinearities and external disturbances, achieving precise trajectory tracking. Based on a six-degree-of-freedom motion model, an adaptive multi-scale sliding mode control mechanism is designed, enabling the system to adapt to scale variations and environmental disturbances, enhancing control accuracy and robustness. The asymptotic stability of the system is rigorously proven using the second Lyapunov method. The numerical simulation results show that the proposed method exhibits superior robustness to external disturbances and high precision in complex environments, confirming its long-term stability. Water tank experiments were conducted to further evaluate the trajectory tracking performance of the method under nonlinear system control. The results show the high level of feasibility and strong potential of the approach for practical applications. |
| format | Article |
| id | doaj-art-5d242e5b52cc4f528fefdb7a2c02bb00 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-5d242e5b52cc4f528fefdb7a2c02bb002025-01-24T13:36:42ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011315610.3390/jmse13010056Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture VesselsHua Zhang0Shuangxi Xu1Yonghe Xie2School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Naval Architecture and Maritime, Zhejiang Ocean University, Zhoushan 316022, ChinaEfficient cleaning is crucial in aquaculture vessels; however, Remotely Operated Vehicles (ROVs) encounter difficulties in regard to trajectory tracking within confined chambers, because of structural nonlinearities and environmental disturbances. To address these challenges, this paper proposes a multi-scale dynamic sliding mode adaptive control (MDSMAC) scheme to compensate for the effects of structural nonlinearities and external disturbances, achieving precise trajectory tracking. Based on a six-degree-of-freedom motion model, an adaptive multi-scale sliding mode control mechanism is designed, enabling the system to adapt to scale variations and environmental disturbances, enhancing control accuracy and robustness. The asymptotic stability of the system is rigorously proven using the second Lyapunov method. The numerical simulation results show that the proposed method exhibits superior robustness to external disturbances and high precision in complex environments, confirming its long-term stability. Water tank experiments were conducted to further evaluate the trajectory tracking performance of the method under nonlinear system control. The results show the high level of feasibility and strong potential of the approach for practical applications.https://www.mdpi.com/2077-1312/13/1/56remotely operated vehiclemulti-scale sliding mode controltrajectory trackingnonlinear system controlaquaculture vessels |
| spellingShingle | Hua Zhang Shuangxi Xu Yonghe Xie Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels Journal of Marine Science and Engineering remotely operated vehicle multi-scale sliding mode control trajectory tracking nonlinear system control aquaculture vessels |
| title | Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels |
| title_full | Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels |
| title_fullStr | Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels |
| title_full_unstemmed | Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels |
| title_short | Experimental and Numerical Study on Trajectory Tracking of Remotely Operated Vehicles Involved in Cleaning Aquaculture Vessels |
| title_sort | experimental and numerical study on trajectory tracking of remotely operated vehicles involved in cleaning aquaculture vessels |
| topic | remotely operated vehicle multi-scale sliding mode control trajectory tracking nonlinear system control aquaculture vessels |
| url | https://www.mdpi.com/2077-1312/13/1/56 |
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