Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC
This study proposes a control method for Remotely Operated Vehicles (ROVs) to actively dock with AUVs, to address the limitations of traditional docking and recovery schemes for Autonomous Underwater Vehicles (AUVs), such as restricted maneuverability and external disturbances. Firstly, a process an...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/3/601 |
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| author | Hongxu Dai Yunxiu Zhang Shengguo Cui Xinhui Zheng Qifeng Zhang |
| author_facet | Hongxu Dai Yunxiu Zhang Shengguo Cui Xinhui Zheng Qifeng Zhang |
| author_sort | Hongxu Dai |
| collection | DOAJ |
| description | This study proposes a control method for Remotely Operated Vehicles (ROVs) to actively dock with AUVs, to address the limitations of traditional docking and recovery schemes for Autonomous Underwater Vehicles (AUVs), such as restricted maneuverability and external disturbances. Firstly, a process and control strategy for ROV active docking with AUVs is designed, improving docking safety. Secondly, a Nonlinear Model Predictive Controller (NMPC) based on a Gaussian Function Sliding Mode Observer (GFSMO) compensation is designed for the ROV, generating smooth control inputs to achieve high-precision trajectory tracking and real-time docking. Finally, a joint simulation experiment is established through WEBOTS 2023a and MATLAB 2023a, verifying the superiority and feasibility of the designed controller and the proposed method. After parameter optimization, the simulation results show the method proposed in this study has a 90% success rate in 10 docking experiments under different disturbances. |
| format | Article |
| id | doaj-art-e7400a17337148a7bbf78514b8978ccd |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-e7400a17337148a7bbf78514b8978ccd2025-08-20T01:49:04ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-03-0113360110.3390/jmse13030601Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPCHongxu Dai0Yunxiu Zhang1Shengguo Cui2Xinhui Zheng3Qifeng Zhang4University of Chinese Academy of Sciences, Beijing 100049, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaUniversity of Chinese Academy of Sciences, Beijing 100049, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaThis study proposes a control method for Remotely Operated Vehicles (ROVs) to actively dock with AUVs, to address the limitations of traditional docking and recovery schemes for Autonomous Underwater Vehicles (AUVs), such as restricted maneuverability and external disturbances. Firstly, a process and control strategy for ROV active docking with AUVs is designed, improving docking safety. Secondly, a Nonlinear Model Predictive Controller (NMPC) based on a Gaussian Function Sliding Mode Observer (GFSMO) compensation is designed for the ROV, generating smooth control inputs to achieve high-precision trajectory tracking and real-time docking. Finally, a joint simulation experiment is established through WEBOTS 2023a and MATLAB 2023a, verifying the superiority and feasibility of the designed controller and the proposed method. After parameter optimization, the simulation results show the method proposed in this study has a 90% success rate in 10 docking experiments under different disturbances.https://www.mdpi.com/2077-1312/13/3/601ROVGFSMONMPCactive docking |
| spellingShingle | Hongxu Dai Yunxiu Zhang Shengguo Cui Xinhui Zheng Qifeng Zhang Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC Journal of Marine Science and Engineering ROV GFSMO NMPC active docking |
| title | Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC |
| title_full | Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC |
| title_fullStr | Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC |
| title_full_unstemmed | Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC |
| title_short | Research on the Control Method for Remotely Operated Vehicle Active Docking with Autonomous Underwater Vehicles Based on GFSMO-NMPC |
| title_sort | research on the control method for remotely operated vehicle active docking with autonomous underwater vehicles based on gfsmo nmpc |
| topic | ROV GFSMO NMPC active docking |
| url | https://www.mdpi.com/2077-1312/13/3/601 |
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