Control Design Of Remotely Operated Vehicles Based On Teleoperation

This paper mainly discusses robust adaptive control and bilateral teleoperation control for remotely operated vehicles and its innovation points are summarized as follows.To begin with, it designs a robust adaptive controller for the remotely operated vehicle. Comparing to previous ROV control study, this paper introduces a sliding mode signal and designs a robust adaptive controller without knowing accurate system dynamics thereby resolves system uncertainty issues.Further, this paper studies the motion control and force feedback control of a bilateral teleoperated ROV system respectively in Chapter 4 and Chapter 5. Comparing to previous teleoperation researches, the plant of this paper has more complex dynamic model with higher nonlinearity and uncertainty which increases difficulties in control. The bilateral teleoperated ROV system has time variant delay while most former researches focus on constant delay. Specifically, the system in Chapter 4 has un-symmetric time delay while the one in Chapter 5 has symmetric time delay, namely the forward path delay equals to the backward path delay. In addition, Chapter 4 focuses on motion control which means both the human force input and environmental force input are zero while Chapter 5 focuses on force feedback control. Here, the human force input is constant and the environmental force is unknown.Finally, this paper makes corresponding simulations for each controller and the simulation results prove all controllers proposed in this paper are effective to obtain good system performance.