Adaptive sliding mode controller combined with pseudo-inverse-based thruster allocator design for ROV with variable coefficients

Abstract

This study introduces a novel adaptive sliding mode controller that incorporates a pseudo-inverse-based allocation method for underwater vehicles with variable coefficients, such as mass and center of gravity. In scenarios like deep-sea mining or dredging, the mass and center of gravity of the vehicle may fluctuate. Taking into account these variations and the changing rate limitations of the thrusters, the primary focus of this research is to address the challenges associated with attitude control and input force allocation.