Disturbance Fuzzy Approach-based Sliding Mode Control on the Working Attitude Adjusting Device of ROV

Abstract

This paper describes the principle, control method of working attitude of ROV (Remotely Operated Vehicle). While the manipulator is reaching out under the water, the change of the center of the gravity will cause the robot pitching. It will take more time to make a maneuver for a pitched robot. A control device was developed to balance the attitude of the robot. A sliding mode controller was designed to control the balance device, with which the disturbance and uncertainties were approached by a fuzzy system. The experiments were carried. The test results were obtained for the control of pitch change of the robot caused by the manipulators and detecting pan/tilt. The availability of the balance device including its control strategy was proved.