Tracking controller based on model prediction control for remotely operated vehicle for thruster fault.

In this paper, for the remotely operated vehicle (ROV) system, a cascaded dynamics trajectory tracking controller for thruster fault is proposed. Firstly, the control strategies are used to reallocate the thruster forces based on quantum-behaved particle swarm optimization (QPSO). Secondly, the kinematic controller based on QPSO-model predictive control (MPC) is designed to obtain the speed control signal. QPSO-MPC with speed constrained optimization is proposed to solve speed jump problem caused by thruster failure. Finally, the kinematic controller method is used in conjunction with dynamic controller based on the sliding mode control (SMC) to achieve dynamic tracking control, and to solve the driving saturation problem caused by thruster failure. Experimental results showed the proposed dynamics trajectory tracking controller could realize trajectory tracking problem under thruster failure without the driving saturation. [ABSTRACT FROM AUTHOR]