Research And Implementation Of A Class Of Control Algorithms Based On Remotely Operated Vehicle

In this thesis,the problem of research and implementation of model predictive control,sliding mode control and cascade PID control are discussed for the control system of remotely operated vehicle(ROV).Firstly,when the control signals are sent to remotely operated vehicle by network,the signals might be attacked by adversaries,i.e.network attack.Next,some network-induced phenomena like saturated inputs and randomly occurring uncertainties have been taken into consideration during the investigation of the control problem for ROVs.And the formulated system model is more practical and flexible because the statistical mean description coming from the real world is applied to addressing these network-induced phenomena.Moreover,the pitch control system of remotely operated vehicle is established considering the algorithm of the sliding mode control and cascade PID control,the work of research includes modelling,parameters identification,the design of controller and analysis of stability,and it provides a more complete discussion about the rationality and effectiveness of these algorithms.Specifically,the skeleton and description of the thesis are given as follows:In Chapter 1:the research meaning,background and motivation are clarified,the outline and contribution of the thesis are introduced,and the research problems to be addressed in each individual chapter are also highlighted.In Chapter 2:the problem of model predictive control is investigated for a class of discrete-time linear system subject to network attack,saturated input and randomly occurring uncertain-ties based on the control system of remotely operated vehicle,some sufficient conditions are obtained for system security in terms of LMI(Linear Matrix Inequality),and then,designing the controller.Finally,the simulation example based on the control system of remotely operated vehicle is employed to demonstrate the effectiveness of the proposed algorithm.In Chapter 3:the sliding mode control problem is addressed for the pitch control system of remotely operated vehicle.The main research work involves modelling,parameters identifi-cation,and analysis of stability.Finally,the simulation example based on the control system of remotely operated vehicle is employed to demonstrate the effectiveness of the proposed algorith-m.In Chapter 4:the cascade PID control problem is addressed for the pitch control system of remotely operated vehicle.The controller is designed and the test is employed to demonstrate the rationality and effectiveness of the proposed algorithm.In Chapter 5:we summarize the research achievements of the thesis and outline the future works which will be further studied...