Path-following control of remotely operated vehicle based on improved hybrid fuzzy PID control

摘要

A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. The issue of 2D path-following control of ROV was studied. Based on single-input fuzzy controller expressed in analytical form, an improved hybrid fuzzy PID control algorithm was proposed. And its application to the tracking control of path-following approach angle was investigated. The design and parameter tuning of the tracking controller was studied, and the stability of the tracking control system based on the proposed hybrid fuzzy PID control algorithm was analyzed using small gain theorem . At last, simulation studies using the nonlinear dynamic model of ROV were implemented, and the results demonstrate the robustness and adaptability of the hybrid fuzzy PID based path-following control system, and the ROV can follow the predefined path precisely.