A Neuro-Sliding Control for the Online Compensation of Disturbances that Affects ROVs

For scientific or commercial off shores, the optimization should be in matter of time and costs to make them safer and affordable. Naturally ROV vehicles are exposed to underwater uncertainties and more over to modulability, which means tool or instrumentation change depending on the task to be performed, so their parameters change too and a tuning of the automatic controllers of the vehicle are required. This work proposes a controller composed by Back Propagation Neural Network and Second Order Sliding Mode which make the vehicle adaptable to changes in their parameters: the Neuro Sliding Control. Experimental results of the proposed controller on a small dimension ROV in one degree of freedom are shown, demonstrating its effectiveness.