Design of Cascade Control Framework for ROV Control and Simulation
In this paper, a cascade control framework is proposed a class of remote operated vehicles (ROVs) to enhance the control performance and capacity of interference resistance. Specifically, the control framework is composed of a fuzzy based controller in primary loop and a PID neural network based controller in secondary loop. In the primary loop, fuzzy controller is implemented to avoid precise establishment of ROV model for calculating the expected velocity of the vehicle. Furthermore, in the secondary loop, a PID neural network with adaptation is adopted to accomplish the capacity of resisting disturbance. Eventually, the control framework is verified by theoretical and simulation analyses. The obtained results indicate that the proposed cascade control framework endows the ROV with the ability to guarantee the control performance and attenuate external disturbance effectively.
2020 IEEE International Conference on Mechatronics and Automation (ICMA)