Position Tracking of an Underwater Robot Based on Floating-Downing PI Control

摘要

A remotely operated underwater vehicle (ROV) is crucial in ocean exploration and underwater missions. An ROV is manipulated through a tether cable by an operator on shore or mother boat, and it can be used for underwater observations or as a robotic arm to take samples back. The position control and movement of an ROV are not stable due to buoyancy, ocean current, and surge waves. To overcome the influence of these disturbances on the ROV, we propose a switch proportional-integral (PI) controller combined with a buck-boost converter (BBC) to process the ROV’s position following. In this paper, a six-axis ROV was designed and implemented. The ROV controller was designed by a NI-roboRIO-based embedded system, which includes a pressure sensor, an accelerometer, six thrusters, and two webcams. The LabVIEW human–machine interface was designed to integrate the control system, sensors, and thrusters. The PI controller was employed to perform the station-keeping and trajectory following. Different PI control parameters were used for the ROV floating-up and diving-down in the sine-wave trajectory following. Experimental results showed that the proposed switch PI control scheme is robust for the position tracking of the underwater robot. The contribution of this study is that we proposed a novel switch proportional-integral controller combined with a buck-boost converter and applied the controller to a natural underwater vehicle, not a mathematical model. The experiments showed that the proposed controller can resist the disturbance of the aquatic environment.