Research of Multi-path Point Tracking Control Method of Submarine Cable Based on Single Neuron Adaptive PID

Abstract

To solve the problem of submarine cable route tracking, a multi way-points tracking control approach was designed based on Single Neuron Adaptive Proportional-Integral-Derivative controller (SNA-PID). Dynamic model of Remotely Operated Vehicle (ROV) was set up and simplified according to its kinetic characteristics and the actual needs of oceanic engineering application. Three SNA-PID controllers were used to control ROV's heading, surge velocity and sway velocity. And the LOS (line of sight) was utilized to guide ROV motion to track predefined way-points.